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Rotorcraft collision avoidance using spherical image-based visual servoing and single point features

Mcfadyen, Aaron, Corke, Peter, & Mejias, Luis (2012) Rotorcraft collision avoidance using spherical image-based visual servoing and single point features. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Hotel Tivoli Marina Vilamoura, Algarve.

Abstract

This paper presents a reactive collision avoidance method for small unmanned rotorcraft using spherical image-based visual servoing. Only a single point feature is used to guide the aircraft in a safe spiral like trajectory around the target, whilst a spherical camera model ensures the target always remains visible. A decision strategy to stop the avoidance control is derived based on the properties of spiral like motion, and the effect of accurate range measurements on the control scheme is discussed. We show that using a poor range estimate does not significantly degrade the collision avoidance performance, thus relaxing the need for accurate range measurements. We present simulated and experimental results using a small quad rotor to validate the approach.

Impact and interest:

2 citations in Scopus
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1 citations in Web of Science®

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Full-text downloads:

126 since deposited on 01 Nov 2012
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ID Code: 54341
Item Type: Conference Paper
Keywords: Collision Avoidance, Visual Servoing, Aerial Robotics
ISBN: 9781467317351
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 01 Nov 2012 12:54
Last Modified: 20 Feb 2013 19:52

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