Vision Based Navigation System Design for Unmanned Aerial Vehicles

Abstract

This study was to develop a path planning algorithm which identifies the lay-by and the divider on either sides of a path, then calculate and create a central reference line of dots without the need of a center line or broken line for the quadcopter's autonomous flight path. The path planning algorithm worked successfully on a 3 straight lined path, curved path, a broken center line path, an unlined path and in low light conditions.