Transactions of Nanjing University of Aeronautics & Astronautics
Obstacle Avoidance of Flapping-Wing Air Vehicles Based on Optical Flow and Fuzzy Control
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Abstract:
The flapping-wing air vehicle （FWAV） is a kind of bio-inspired robot whose wings can flap up and down like bird and insect wings. A vision-based obstacle avoidance method for FWAVs is proposed in this paper. First， the Farneback algorithm is used to calculate the optical flow field of the first-view video frames taken by the on-board image transmission camera. Based on the optical flow information， a fuzzy obstacle avoidance controller is then designed to generate the FWAV steering commands. Experimental results show that the proposed obstacle avoidance method can accurately identify obstacles and achieve obstacle avoidance for FWAVs.
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Clc Number:
TP242.6
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