NDLI: Design and evaluation of decision and control strategies for autonomous vision-based see and avoid systems

Content Provider	IEEE Xplore Digital Library
Author	Mcfadyen, A. Mejias, L.
Copyright Year	2015
Description	Author affiliation: Sci. & Eng. Fac., Queensland Univ. of Technol., Brisbane, QLD, Australia (Mcfadyen, A.; Mejias, L.)
Abstract	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.
Starting Page	607
Ending Page	616
File Size	1361945
Page Count	10
File Format	PDF
e-ISBN	9781479960101
DOI	10.1109/ICUAS.2015.7152342
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Spirals Uncertainty Unmanned aerial vehicles Trajectory Aircraft Collision avoidance
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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