This research paper presents a novel approach for navigating a micro UAV
(Unmanned Aerial Vehicle) through narrow passages using only its onboard camera
feed and a PID control system. The proposed method uses edge detection and
homography techniques to extract the key features of the passage from the
camera feed and then employs a tuned PID controller to guide the UAV through
and out of the passage while avoiding collisions with the walls. To evaluate
the effectiveness of the proposed approach, a series of experiments were
conducted using a micro-UAV navigating in and out of a custom-built test
environment (constrained rectangular box). The results demonstrate that the
system is able to successfully guide the UAV through the passages while
avoiding collisions with the walls.Comment: Currently under review in IEEE CASE 202