In this article, we propose a reciprocal collision avoidance system for autonomous drones, based on computer vision and using relative positioning in an indoor environment. This dynamic environment represents a demanding challenge, but it is crucial for any future existence of multiple drones operating in urban areas. We use commercial AR Drone 2.0 robots, which represent that our proposal is suitable for low-cost equipment. In our case, we attempt to achieve the collision avoidance of two drones that fly one towards the other and react online autonomously to signals received by their computer vision systems with a decentralized control strategy. We test this in four different experiments with demanding conditions. For this purpose, we get the camera signal of the onboard drones and tune their behavior to react smoothly and precisely. We report encouraging positive results and provide the code we use in the experiments for replication.

中文翻译：

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一种用于与无人机在线相互避撞的低成本视觉系统

在本文中，我们提出了一种基于计算机视觉并在室内环境中使用相对定位的自主无人机相互防撞系统。这种动态环境是一项艰巨的挑战，但对于未来在城市地区运行的多架无人机的存在至关重要。我们使用商用AR Drone 2.0机器人，这代表我们的建议适合低成本设备。在我们的案例中，我们试图实现两架无人机的避免碰撞，这两台无人机将一架飞向另一架，并通过分散的控制策略对其计算机视觉系统接收到的信号做出在线自主反应。我们在四个不同的实验中在苛刻的条件下对此进行了测试。为此，我们获取机载无人机的摄像头信号并调整其行为以平稳、准确地做出反应。我们报告了令人鼓舞的积极结果，并提供了我们在实验中用于复制的代码。