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A real-time guidance algorithm for obstacle shape mapping is proposed. A stereo vision system and an ultrasonic sensor are assumed to be mounted on a quadrotor to obtain the shape information of an obstacle. The depth map acquired by the stereo vision system is utilized to detect and map the obstacle. Mapping the obstacle is performed by utilizing obstacle data points acquired from the depth map. States of the quadrotor are used to generate a path for obstacle mapping in real time. The quadrotor moves around the obstacle to map the overall shape of the obstacle while avoiding collisions. The quadrotor also performs vertical maneuvers if the image plane of the vision system cannot cover the entire obstacle. The horizontal and vertical maneuvers are performed in sequence to develop a systematic scheme to efficiently map the obstacle. Finally, numerical simulations are performed to demonstrate the performance of the proposed guidance algorithm.
Park et al. (2016) studied this question.