Vision-based optimal obstacle-avoidance guidance for rotorcraft
Vision-based optimal obstacle-avoidance guidance for rotorcraft
- New search for: Menon, P. K. A.
- New search for: Chatterji, G. B.
- New search for: Sridhar, B.
- New search for: Menon, P. K. A.
- New search for: Chatterji, G. B.
- New search for: Sridhar, B.
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.
Document information
Vision-based optimal obstacle-avoidance guidance for rotorcraft
AIAA Guidance, Navigation and Control Conference ; 1991 ; New Orleans, LA, United States
1991-01-01
Conference paper
No indication
English
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