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E-Vision I: See & Avoid

Factoria Etsia S.L., partially funded under AVANZA by the Ministery of Industry


The two main tasks contracted in this project are:

  1. Vision System development, that has to provide the the images that allow detection of objects in collision direction.
  2. Warning algorithm development, that has to detect and analyse possible collisions based on image processing.
Starting date: 
January 2011
Finishing date: 
December 2012
Research Lines: 

See & Avoid for Light UAV

See & Avoid for UAV
This work presents a collision avoidance approach based on omnidirectional cameras that does not require the estimation of range between two platforms to resolve a collision encounter. It guarantees a minimum separation between the two vehicles involved by maximising the view-angle given by the omnidirectional sensor. Only visual information is used to achieve avoidance under a bearing-only visual servoing approach.

  See & Avoid for UAV based on visua

A robust real time method for UASs see and avoid based only in the visual information  provided by an omnidirectional camera sensor. The system was tested on Pelican UAV  flights with collision scenarios showing that the proposed method is an efficient technique for real time  evasion.

See and Avoid with a Fuzzy controller optimised using Cross-Entropy method

See and Avoid: Using Cross-Entropy method for optimize the Fuzzy controller of the quadcopter heading.
A visual servoing system with a controller based on fuzzy logic has been implemented for avoid obstacle task. The 3 gains of this controller were optimized using the Cross-Entropy method working under the ROS-Gazebo simulation.



See and Follow: Object Following using Soft Computing Control Techniques

See and Follow: MUAV Object Following using soft computing control techniques
A control strategy is developed based on visual information given by an adaptive tracking method based on color information. A visual fuzzy servoing system has been developed control a quadcopter (MUAV), that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centered on the image plane. The control behavior is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations that affect not just to the quadcopter but also to the object to follow.