Obstacle Avoidance, Visual Automatic Target Tracking, and Task Allocation for Small Unmanned Air Vehicles

Download or read book Obstacle Avoidance, Visual Automatic Target Tracking, and Task Allocation for Small Unmanned Air Vehicles written by Jeffery Brian Saunders and published by . This book was released on 2009 with total page 137 pages. Available in PDF, EPUB and Kindle. Book excerpt: Utilizing a laser ranger, we develop a dynamic geometric guidance strategy to generate paths around detected obstacles. The strategy overrides a waypoint planner in the presence of pop-up-obstacles. We develop a second guidance strategy that oscillates the MAV around the waypoint path and guarantees obstacle detection and avoidance. Both rely on a laser ranger for obstacles detection and are demonstrated in simulation and in flight tests.