Decision strategies for automated visual collision avoidance
Data(s) |
2014
|
---|---|
Resumo |
This paper provides a preliminary analysis of an autonomous uncooperative collision avoidance strategy for unmanned aircraft using image-based visual control. Assuming target detection, the approach consists of three parts. First, a novel decision strategy is used to determine appropriate reference image features to track for safe avoidance. This is achieved by considering the current rules of the air (regulations), the properties of spiral motion and the expected visual tracking errors. Second, a spherical visual predictive control (VPC) scheme is used to guide the aircraft along a safe spiral-like trajectory about the object. Lastly, a stopping decision based on thresholding a cost function is used to determine when to stop the avoidance behaviour. The approach does not require estimation of range or time to collision, and instead relies on tuning two mutually exclusive decision thresholds to ensure satisfactory performance. |
Identificador | |
Publicador |
IEEE |
Relação |
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6842316&tag=1 DOI:10.1109/ICUAS.2014.6842316 Mcfadyen, Aaron, Durand-Petiteville, Adrien, & Mejias, Luis (2014) Decision strategies for automated visual collision avoidance. In Proceedings of the 2014 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, Orlando, Florida, The United States of America, pp. 715-725. |
Direitos |
Copyright 2014 IEEE |
Fonte |
Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #Aircraft #Collision avoidance #Sprials #Trajectory #Vehicle dynamics #Vehicles #Visualization |
Tipo |
Conference Paper |