Abstract
The DelFly does not use a map of its environment to achieve successful obstacle avoidance. Instead, it uses more direct visual cues to detect obstacles and to turn in the right direction. In this chapter, we investigate how successful such a direct avoidance strategy can be. We introduce a turning logic for the DelFly and test it both in simulation and on the real DelFly II platform, confirming the validity of the approach and identifying some of the challenges still ahead.
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Notes
- 1.
Since there is no communication yet from the microcontroller to the ground station, the ground station uses a fixed time instead of a signal that indicates turn completion.
- 2.
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This chapter is partly based on [4].
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de Croon, G.C.H.E., Perçin, M., Remes , B.D.W., Ruijsink, R., De Wagter, C. (2016). Optical Flow Based Turning Logic. In: The DelFly. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-9208-0_9
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DOI: https://doi.org/10.1007/978-94-017-9208-0_9
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