Obstacle Avoidance, Visual Automatic Target Tracking, and Task Allocation for Small Unmanned Air Vehicles
| Author | : Jeffery Brian Saunders |
| Publisher | : |
| Total Pages | : 137 |
| Release | : 2009 |
| ISBN-10 | : OCLC:505013081 |
| ISBN-13 | : |
| Rating | : 4/5 (81 Downloads) |
Book Synopsis Obstacle Avoidance, Visual Automatic Target Tracking, and Task Allocation for Small Unmanned Air Vehicles by : Jeffery Brian Saunders
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.
