28th Congress of the International Council of the Aeronautical Sciences, 23 - 28 September 2012, Brisbane, Australia
Paper ICAS 2012-11.3.1

VISUAL SERVOING APPROACH TO COLLISION AVOIDANCE FOR AIRCRAFT

A. D. Mcfadyen, L. A. Mejias, P. Corke*
QUT, ARCAA, Australia; *QUT, Australia

Keywords: collision avoidance, visual servoing, see and avoid, aerial robotics

This paper presents a reactive Sense and Avoid approach using spherical image-based visual servoing. Avoidance of point targets in the lateral or vertical plane is achieved without requiring an estimate of range. Simulated results for static and dynamic targets are provided using a realistic model of a small fixed wing unmanned aircraft.

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