Vision-Based Autonomous UAV Low-Altitude Road Following and Obstacle Avoidance

This study proposes an autonomous vision-based UAV system for low-altitude road following, overcoming drawbacks of remote operation and GPS reliance. The system autonomously tracks road centerlines and avoids obstacles. Validated through experiments, it has 0.55-meter centerline error and 99.33% of the time within the range on a 1-kilometer, 7-meter wide road, demonstrating feasibility and robustness. It is capable of long-distance road following without heavy GPS reliance and effective obstacle avoidance, making it suitable for various lowaltitude road following missions.