Design and evaluation of decision and control strategies for autonomous vision-based see and avoid systems
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.
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.
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|Item Type:||Conference Paper|
|Keywords:||See and Avoid, Visual Control, Receiver Operating Curves|
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2015 [please consult the author]|
|Deposited On:||02 Jul 2015 22:43|
|Last Modified:||11 Sep 2015 01:20|
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