Aircraft collision avoidance using spherical visual predictive control and single point features

  title={Aircraft collision avoidance using spherical visual predictive control and single point features},
  author={Aaron McFadyen and Luis Mej{\'i}as Alvarez and Peter I. Corke and C{\'e}dric Pradalier},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents practical vision-based collision avoidance for objects approximating a single point feature. Using a spherical camera model, a visual predictive control scheme guides the aircraft around the object along a conical spiral trajectory. Visibility, state and control constraints are considered explicitly in the controller design by combining image and vehicle dynamics in the process model, and solving the nonlinear optimization problem over the resulting state space. Importantly… CONTINUE READING
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