Minimum-effort guidance for vision-based collision avoidance

Yoko Watanabe, Anthony J. Calise, Eric N. Johnson, Johnny H. Evers

Research output: Chapter in Book/Report/Conference proceedingConference contribution

42 Scopus citations


This paper describes a vehicle guidance strategy for waypoint tracking as well as collision avoidance with unforeseen obstacles using a 2D passive vision sensor mounted on the vehicle. An extended Kalman filter is applied to estimate the position of each obstacle relative to the vehicle from image-based measurements. A collision cone approach is utilized to determine a critical obstacle, and an aiming point for the critical obstacle is set on a boundary of the cone. A minimum-effort guidance law for multiple targets tracking is applied to guide the vehicle to a given waypoint via the aiming point to avoid the critical obstacle. Simulation results illustrate that the suggested minimum-effort guidance achieves a waypoint tracking mission while avoiding obstacles with less control effort when compared to a previously developed sequential proportional navigation approach. Moreover, minimum-effort guidance improves convergence of vision-based obstacle position estimation, and hence enhances obstacle avoidance performance.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - 2006 Atmospheric Flight Mechanics Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Number of pages9
ISBN (Print)156347820X, 9781563478208
StatePublished - 2006
Event2006 Atmospheric Flight Mechanics Conference - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - 2006 Atmospheric Flight Mechanics Conference


Other2006 Atmospheric Flight Mechanics Conference
Country/TerritoryUnited States
CityKeystone, CO

All Science Journal Classification (ASJC) codes

  • General Engineering


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