Unmanned Aerial Vehicle Anti-Capture with the Fusion of Ultrasonic and Visual Information

This paper presents a novel algorithm that grants the unmanned aerial vehicle (UAV) power to evade the net-attack. This algorithm consists of four steps. First, ultrasonic sensors are used to detect the attack and measure the velocity and direction of the net. Next, the edge detection algorithm is used to note the net and estimate the size of the net. According to these data, the model could control the UAV to escape the attack. This mechanism is composed of low cost and high stable components, thus being apt for most UAVs. The application of the proposed approach in a simulation and engineering system indicates its effectiveness and practicability. We demonstrate the capability of the device and algorithm to evade the net-attack accurately and reliably.