This paper presents a novel vision-based obstacle avoidance system for flying robots working in dynamic environments. Instead of fusing multiple sensors to enlarge the view field , we introduce a bio-inspired solution that utilizes a stereo camera with  independent rotational DOF to sense the obstacles actively. In particular, the rotation is planned heuristically by multiple objectives that can benefit flight safety , including tracking dynamic obstacles, observing the heading direction, and exploring the previously unseen area. With this sensing result, a flight path is  planned based on real-time sampling and  collision checking in  state space, which constitutes an active sense and avoid (ASAA) system. Experiments  demonstrate that this system is capable of handling environments with dynamic obstacles and abrupt changes in goal direction . Since only one stereo camera is utilized, this system provides a low-cost but effective approach to overcome the view field limitation in visual navigation.
This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV) , we introduce an alternative approach that utilizes a stereo camera with an independent rotational DOF to sense the obstacles actively. In particular, the sensing direction is planned heuristically by multiple objectives , including tracking dynamic obstacles, observing the heading direction, and exploring the previously unseen area. With the sensing result, a flight path is then planned based on real-time sampling and uncertainty-aware collision checking in the state space, which constitutes an active sense and avoid (ASAA) system. Experiments in both simulation and the real world demonstrate that this system can well cope with dynamic obstacles and abrupt goal direction changes . Since only one stereo camera is utilized, this system provides a low-cost and effective approach to overcome the FOV limitation in visual navigation.
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presents a novel vision-based obstacle avoidance system
investigates a novel active-sensing-based obstacle avoidance paradigm
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working
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view field
field of view (FOV)
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a bio-inspired solution
an alternative approach
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rotation
sensing direction
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that can benefit flight safety
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then
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uncertainty-aware
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in both simulation and the real world
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is capable of handling environments
can well cope
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changes in goal direction
goal direction changes
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view field
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