UAV navigation using vision sensor only

Abstract

This project aims to develop an autonomous navigation system for an UAV using only a stereo camera. In this report, the background information about UAV and the scope of the project are specified clearly in the Chapter 1. Chapter 2 continues to provide a literature review about stereo vision and path planning. It goes into detail on five different categories of path planning and two popular path planning algorithms that are widely used. Chapter 3 describes the some soft-ware and hard-ware used in this project and the reason for using them. The project setup is clearly illustrated in Chapter 4 from installation, the use of ROS to the UAV model and the control system. Chapter 5 explains the implementation process of using Navigation Stack to achieve our purposes. In Chapter 6, the results are presented with explanation and discussion on the limitation of the project. The last chapter concludes the problem as well as suggesting a way to resolve the current problem and introducing a method on 3D navigation system.