An Aerodynamics engineer tests a drone from Point A. The drone travels in a parabolic path. After flying for a certain distance, the drone landed on Point B, which is 4 Km from Point A along a straight path. The Engineer further retests the drone and it travels 4 Km vertically from Point B and remains static in the air. The distance between the Engineer and the Drone is 2√8 Km. At what angle of elevation is the Engineer observing the drone from? *
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Answer:
This paper proposes a new obstacle avoidance method using a single monocular vision camera as the only sensor which is called as Hybrid Architecture. This architecture integrates a high performance appearance-based obstacle detection method into an optical flow-based navigation system. The hybrid architecture was designed and implemented to run both methods simultaneously and is able to combine the results of each method using a novel arbitration mechanism. The proposed strategy successfully fused two different vision-based obstacle avoidance methods using this arbitration mechanism in order to permit a safer obstacle avoidance system. Accordingly, to establish the adequacy of the design of the obstacle avoidance system, a series of experiments were conducted. The results demonstrate the characteristics of the proposed architecture, and the results prove that its performance is somewhat better than the conventional optical flow-based architecture. Especially, the robot employing Hybrid Architecture avoids lateral obstacles in a more smooth and robust manner than when using the conventional optical flow-based technique.
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