Journal ArticleDOI
Reactive Path Planning for Micro Air Vehicles Using Bearing-only Measurements
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This paper develops a reactive guidance strategy for collision avoidance using bearing-only measurements, which can be used to avoid collision from circular obstacles and to follow straight and curved walls at safe distance.Abstract:
Autonomous path planning of Micro Air Vehicles (MAVs) in an urban environment is a challenging task because urban environments are dynamic and have variety of obstacles, and the locations of these obstacles may not be available a priori. In this paper we develop a reactive guidance strategy for collision avoidance using bearing-only measurements. The guidance strategy can be used to avoid collision from circular obstacles and to follow straight and curved walls at safe distance. The guidance law moves a obstacle in the sensor field-of-view to a desired constant bearing angle, which causes the MAV to maintain a constant distance from the obstacle. We use sliding mode control theory to derive the guidance law, which is fast, computationally inexpensive, and guarantees collision avoidance.read more
Citations
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Journal ArticleDOI
Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey
TL;DR: Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are reviewed, and particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.
Journal ArticleDOI
Hybrid Dynamic Moving Obstacle Avoidance Using a Stochastic Reachable Set-Based Potential Field
TL;DR: This work utilizes the APF framework for runtime planning but uses a formal validation method, Stochastic Reachable (SR) sets, to generate accurate potential fields for moving obstacles to outperforms the traditional Gaussian APF method.
Journal ArticleDOI
A survey of autonomous vision-based See and Avoid for Unmanned Aircraft Systems
Aaron McFadyen,Luis Mejias +1 more
TL;DR: In this paper, a comprehensive review of the vision-based See and Avoid problem for unmanned aircraft is provided, where the unique problem environment and associated constraints are detailed, followed by an in-depth analysis of visual sensing limitations.
Proceedings ArticleDOI
Aircraft collision avoidance using spherical visual predictive control and single point features
TL;DR: This paper presents practical vision-based collision avoidance for objects approximating a single point feature using a spherical camera model, and designs an objective function that simultaneously guides the aircraft along the avoidance trajectory whilst providing an indication of the appropriate point to stop the spiral behaviour.
Journal ArticleDOI
Visual predictive control of spiral motion
TL;DR: This paper deals with constrained image-based visual servoing of circular and conical spiral motion about an unknown object approximating a single image point feature, and derives a quasi-infinite horizon visual-predictive control scheme.
References
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Proceedings ArticleDOI
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Journal ArticleDOI
Randomized kinodynamic planning
TL;DR: In this paper, the authors presented the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design), where the task is to determine control inputs to drive a robot from an unknown position to an unknown target.
Proceedings ArticleDOI
Predictive energy management of a power-split hybrid electric vehicle
TL;DR: Simulation results over multiple driving cycles indicate better fuel economy over conventional strategies can be achieved and the proposed algorithm is causal and has the potential for real-time implementation.