@inproceedings{afbafa3c2f11422e9168ed3d6a7e9e56,
title = "Minimum-effort guidance for vision-based collision avoidance",
abstract = "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.",
author = "Yoko Watanabe and Calise, {Anthony J.} and Johnson, {Eric N.} and Evers, {Johnny H.}",
year = "2006",
doi = "10.2514/6.2006-6641",
language = "English (US)",
isbn = "156347820X",
series = "Collection of Technical Papers - 2006 Atmospheric Flight Mechanics Conference",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
pages = "1308--1316",
booktitle = "Collection of Technical Papers - 2006 Atmospheric Flight Mechanics Conference",
note = "2006 Atmospheric Flight Mechanics Conference ; Conference date: 21-08-2006 Through 24-08-2006",
}