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Abstract
It is very crucial for unmanned aerial vehicles to have autonomous obstacle detection and avoidance capability for their survivability during flight. This paper proposes and validates the application of extended Kalman filter for online obstacle position estimation with a vision based sensor and the usefulness of this information with two recently developed guidance algorithms for collision avoidance. The vision sensor is assumed to continuously sense the environment in front of the vehicle during flight. In case any obstacle is detected, the information from this sensor is then utilized in the filter to estimate the obstacle position online. Simultaneously, the collision cone approach is applied to predict any potential collision in future and, in case of a potential threat, to steer away the vehicle in order to avoid the collision. This is done by first computing a suitable ‘aiming point’ towards which the velocity vector of the vehicle must be aligned as soon as possible and then by using either of two recently proposed guidance laws, namely nonlinear geometric guidance and differential geometric guidance (which are identically same with appropriate gain correlation, but otherwise are different) to achieve this objective. Exhaustive simulation studies show that this overall strategy is fairly successful.
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References
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References
Nonami, K., "Project and Recent Research and Development for Civil Use Autonomous Unmanned Aircraft as UAV and MAV", Journal of System Design and Dynamics, Vol.1, No.2, pp.120-128, 2007.
Wegener, S.S., Schoenung, S.S., Totah, J., Sullivan, D., Frank, J., Enomoto, F., Frost, C and Theodore, C., "UAV Autonomous Operations for Airborne Science Missions", Proceedings of AIAA Third Unmanned Unlimited Technical Conference, Workshop and Exhibit, Chicago, Illinois, 2004.
DeGarmo, M and Nelson, G.M., "Prospective Unmanned Aerial Vehicle Operations in the Future National Airspace System", AIAA 4th Aviation Technology, Integration and Operations (ATIO) Forum, Chicago, Illinois, Sept, 20-22, 2004.
Fowers, S., Lee, D.J., Tippetts, B., Lillywhite, K.D., Dennis, A and Archibald, J., "Vision Aided Stabilization and the Development of a Quad-rotor Micro UAV", Proceedings of the 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation, Paradise Island, Bahamas, pp.143-148, 2007.
Coffey, T and Montgomery, J., "The Emergence of Mini UAVs for Military Applications", in Defence Horizons, No. 22, Dec, 2002.
DeWagter, C and Mulder, J.A., "Towards Visionbased UAV Situation Awareness", AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, Aug, 15-18, 2005.
Saxena, A., Sun, M and Ng, A.Y., "Learning 3-D Scene Structure from a Single Still Image", In PAMI, 2008.
Simon, D., Optimal State Estimation, Wiley, 2006.
Watanabe, Y., Calise, A and Johnson, E., "Minimum- Effort Guidance for Vision-Based Collision Avoidance", AIAA Atmospheric Flight Mechanics Conference, 2006.
Amin, J.N., Boskovic, J.D and Mehra, R.K., "A Fast and Efficient Approach to Path Planning for Unmanned Vehicles", AIAA Guidance, Navigation, and Control Conference and Exhibit, Aug, 2006.
Mujumdar, A and Padhi, R., "Reactive Collision Avoidance Using Nonlinear Geometric and Differential Geometric Guidance", AIAA Journal of Guidance, Control and Dynamics, Vol.34, No.1, 2011, pp.303-310.
Chakravarthy A and Ghose, D., "Obstacle Avoidance in a Dynamic Environment : A Collision Cone Approach", IEEE Transactions on Systems, Man and Cybernetics-Part A : Systems and Humans, 28 (5), pp.562-574.
Yoo, C and Ahn, I., "Low Cost GPS/INS Sensor Fusion System for UAV Navigation", Proceedings of Digital Avionics Systems Conference, Vol.2, pp.11- 19, 2003.
Crassidis, J.L and Junkins, J.L., "Optimal Estimation of Dynamic Systems", CRC Press, 2004.
Enns, D., Bugajski, D., Hendrick, R and Stein, G., "Dynamic Inversion : An Evolving Methodology for Flight Control Design", International Journal of Control, 59 (1), pp.79-91.
Mujumdar, A and Padhi, R., "Evolving Philosophies on Autonomous Obstacle/Collision Avoidance of Unmanned Aerial Vehicles", AIAA Journal of Aerospace Computing, Information and Communication, Vol.8, 2011, pp.17-41.
Suresh, M and Chose, D., "Role of Information and Communication in Redefining Unmanned Aerial Vehicle Autonomous Control Levels", Proceedings of IMechE, Vol.224, Part G : Journal of Aerospace Engineering, pp.171-197.