A collision avoidance algorithm for multiple unknown static obstacles is proposed for a quadrotor system. A stereo vision system with a limited field of view and sensing range is assumed to be mounted on the quadrotor to obtain obstacle information. An ellipsoid is chosen as a circumscribed bounding box containing the obtained obstacle data points, which can be determined by solving a convex optimization problem. An affine transformation is used to form a collision cone consisting of straight lines tangent to the ellipsoid. A collision condition is examined using the collision cone and velocity vector of the quadrotor. The hierarchical clustering method is proposed to address multiple obstacles, and the bounding boxes are updated using the clusters. Numerical simulations are performed to demonstrate the performance of the proposed collision avoidance algorithm.

针对四旋翼系统，提出了一种针对多个未知静态障碍物的防撞算法。假定将视场和感测范围有限的立体视觉系统安装在四旋翼飞机上以获得障碍物信息。选择椭球作为包含获得的障碍物数据点的外接边界框，可以通过解决凸优化问题来确定椭球。仿射变换用于形成由与椭球相切的直线组成的碰撞锥。使用碰撞锥和四旋翼的速度矢量检查碰撞条件。提出了层次聚类的方法来解决多个障碍，并使用聚类更新边界框。