Rotorcraft collision avoidance using spherical image-based visual servoing and single point features

Aaron Mcfadyen, Peter Corke, Luis Mejias
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a reactive collision avoidance method for small unmanned rotorcraft using spherical imagebased visual servoing. Only a single point feature is used to guide the aircraft in a safe spiral like trajectory around the target, whilst a spherical camera model ensures the target always remains visible. A decision strategy to stop the avoidance control is derived based on the properties of spiral like motion, and the effect of accurate range measurements on the control scheme is
more » ... ussed. We show that using a poor range estimate does not significantly degrade the collision avoidance performance, thus relaxing the need for accurate range measurements. We present simulated and experimental results using a small quad rotor to validate the approach.
doi:10.1109/iros.2012.6386164 dblp:conf/iros/McfadyenCM12 fatcat:mklxag3fzrcsngibs2kdoxfju4