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Collision Avoidance For Uavs Using Optic Flow Measurement With Line Of Sight Rate Equalization And Looming, Paul J. Shelnutt
Collision Avoidance For Uavs Using Optic Flow Measurement With Line Of Sight Rate Equalization And Looming, Paul J. Shelnutt
Theses and Dissertations
A series of simplified scenarios is investigated whereby an optical flow balancing guidance law is used to avoid obstacles by steering an air vehicle between fixed objects/obstacles. These obstacles are registered as specific points that can be representative of features in a scene. The obstacles appear in the field of view of a single forward looking camera. First a 2-D analysis is presented where the rate of the line of sight from the vehicle to each of the obstacles to be avoided is measured. The analysis proceeds by initially using no field of view (FOV) limitations, then applying FOV restrictions, …