Design and evaluation of decision and control strategies for autonomous vision-based see and avoid systems
Data(s) |
2015
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Resumo |
This paper details the design and performance assessment of a unique collision avoidance decision and control strategy for autonomous vision-based See and Avoid systems. The general approach revolves around re-positioning a collision object in the image using image-based visual servoing, without estimating range or time to collision. The decision strategy thus involves determining where to move the collision object, to induce a safe avoidance manuever, and when to cease the avoidance behaviour. These tasks are accomplished by exploiting human navigation models, spiral motion properties, expected image feature uncertainty and the rules of the air. The result is a simple threshold based system that can be tuned and statistically evaluated by extending performance assessment techniques derived for alerting systems. Our results demonstrate how autonomous vision-only See and Avoid systems may be designed under realistic problem constraints, and then evaluated in a manner consistent to aviation expectations. |
Formato |
application/pdf |
Identificador | |
Publicador |
IEEE |
Relação |
http://eprints.qut.edu.au/85097/1/icuas2015final.pdf DOI:10.1109/ICUAS.2015.7152342 Mcfadyen, Aaron & Mejias, Luis (2015) Design and evaluation of decision and control strategies for autonomous vision-based see and avoid systems. In Proceedings of the 2015 International Conference on Unmanned Aircraft Systems, ICUAS, IEEE, Denver, Colorado, pp. 607-616. |
Direitos |
Copyright 2015 [please consult the author] |
Fonte |
Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #See and Avoid #Visual Control #Receiver Operating Curves |
Tipo |
Conference Paper |