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A real-time waypoint-based 3D local path planning algorithm is proposed for obstacle avoidance using the optical flow obtained by a frontal monocular camera mounted on a quadrotor UAV. The algorithm accounts for vertical and horizontal obstacle avoidance, as well as for avoidance of frontally approaching obstacles. Implementation and testing are carried out in the ROS environment and the algorithm effectiveness is demonstrated via Gazebo simulations. Realtime algorithm performance is also assessed through software profiling and in terms of worst case execution time using the NVIDIA Jetson TX1 and RaspberryPi 4 for hardware-in-the-loop (HIL) tests.
Allasia et al. (Tue,) studied this question.
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