An optimal guidance scheme for vision-based obstacle avoidance is developed. The proposed approach is useful for automating low-altitude rotorcraft flight. It explicitly accounts for the discrete nature of range information available from vision-based sensors and uses a linear combination of flight time, square of the vehicle acceleration and the square of the distance to various sensed obstacles as the performance index. A sixth-order, three-degree-of-freedom nonlinear point-mass vehicle model is included in the analysis. Numerical results using a sample image sequence is given.


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    Titel :

    Vision-based optimal obstacle-avoidance guidance for rotorcraft


    Beteiligte:
    Menon, P. K. A. (Autor:in) / Chatterji, G. B. (Autor:in) / Sridhar, B. (Autor:in)

    Kongress:

    AIAA Guidance, Navigation and Control Conference ; 1991 ; New Orleans, LA, United States


    Erscheinungsdatum :

    1991-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Vision-based optimal obstacle-avoidance guidance for rotorcraft

    MENON, P. / CHATTERJI, G. / SRIDHAR, B. | AIAA | 1991




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