Collision avoidance based on line-of-sight angle

Venanzio Cichella, Thiago Marinho, Dusan Stipanović, Naira Hovakimyan, Isaac Kaminer, Anna Trujillo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses the problem of collision avoidance for fixed-wing unmanned aerial vehicles. The angular velocity of the aircraft is adjusted in order to avert a possible collision with cooperative or uncooperative obstacles. The novelty of this work is that the control law uses only the line-of-sight angle as feedback, which can be obtained from an inertial measurement unit and a gimbaled camera mounted onboard the vehicle. This work aims at providing a solution to the collision avoidance problem for small low-cost unmanned aerial platforms, which are not equipped with sensors capable of measuring data such as position and velocity of the obstacle. This problem of practical relevance is faced from a theoretical standpoint. A Lyapunov based analysis is outlined, which provides safety guarantees under a given set of assumptions that the obstacle must satisfy. Simulation results are presented to validate the theoretical findings.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6779-6784
Number of pages6
ISBN (Electronic)9781479978861
DOIs
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

Keywords

  • Cameras
  • Collision avoidance
  • Position measurement
  • Robot sensing systems
  • Safety
  • Vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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