Conference proceeding
Collision avoidance based on line-of-sight angle
2015 54th IEEE Conference on Decision and Control (CDC), Vol.54, pp.6779-6784
12/2015
DOI: 10.1109/CDC.2015.7403287
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.
Details
- Title: Subtitle
- Collision avoidance based on line-of-sight angle
- Creators
- Venanzio Cichella - Univ. of Illinois at Urbana-Champaign, Urbana, IL, USAThiago Marinho - Univ. of Illinois at Urbana-Champaign, Urbana, IL, USADusan Stipanovic - Univ. of Illinois at Urbana-Champaign, Urbana, IL, USANaira Hovakimyan - Univ. of Illinois at Urbana-Champaign, Urbana, IL, USAIsaac Kaminer - Naval Postgrad. Sch., Monterey, CA, USAAnna Trujillo - NASA Langley Res. Center, Hampton, VA, USA
- Resource Type
- Conference proceeding
- Publication Details
- 2015 54th IEEE Conference on Decision and Control (CDC), Vol.54, pp.6779-6784
- Publisher
- IEEE
- DOI
- 10.1109/CDC.2015.7403287
- ISSN
- 0743-1546
- eISSN
- 2576-2370
- Language
- English
- Date published
- 12/2015
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984064596102771
Metrics
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