{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/103718"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/103718","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"High-speed autonomous obstacle avoidance with pushbroom stereo","abstract":"This thesis presents the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard sensing and computation, we perform obstacle detection, planning, and feedback control in realtime. We introduce a novel stereo vision algorithm, pushbroom stereo, capable of detecting obstacles at 120 frames per second without overburdening our lightweight processors. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. 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