Visual control for automated aircraft collision avoidance systems
Mcfadyen, Aaron (2015) Visual control for automated aircraft collision avoidance systems. PhD thesis, Queensland University of Technology.
This thesis presents a new vision-based decision and control strategy for automated aircraft collision avoidance that can be realistically applied to the See and Avoid problem. The effectiveness of the control strategy positions the research as a major contribution toward realising the simultaneous operation of manned and unmanned aircraft within civilian airspace.
Key developments include novel classical and visual predictive control frameworks, and a performance evaluation technique aligned with existing aviation practise and applicable to autonomous systems. The overall approach is demonstrated through experimental results on a small multirotor unmanned aircraft, and through high fidelity probabilistic simulation studies.
Impact and interest:
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|Item Type:||QUT Thesis (PhD)|
|Supervisor:||Mejias Alvarez, Luis, Campbell, Duncan, & Corke, Peter|
|Keywords:||Visual Servoing, Collision Avoidance, Unmanned Aircraft, Nonlinear Model Predictive Control, See and Avoid, System Operating Curves|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Institution:||Queensland University of Technology|
|Deposited On:||26 Feb 2015 06:43|
|Last Modified:||08 Sep 2015 06:37|
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