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.

翻译：本研究提出了一种仅利用机载摄像头图像和PID控制系统，引导微型无人机穿越狭窄通道的新方法。该方法首先通过边缘检测与单应性技术，从摄像头图像中提取通道的关键特征；随后，利用经过参数调整的PID控制器，在无人机穿越并驶出通道的过程中，引导其有效规避墙壁碰撞。为评估所提方法的有效性，我们使用微型无人机在定制实验环境（受限矩形箱体）中开展了一系列穿越测试。实验结果表明，该系统能够成功引导无人机安全穿越通道，并避免与墙壁发生碰撞。