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Traditional sensors for obstacle detection on aircraft, such as radar, are too heavy for fixed wing micro air vehicles and make obstacle detection and avoidance a difficult problem. EO/IR cameras are small and lightweight enough to offer an alternative to heavy sensors. Vision processing available on a ground station provides range and bearing to nearby obstacles. We propose a nonlinear guidance law...
We present new realtime path planning and collision avoidance algorithms for an autonomous rover equipped with a laser range finder to be used as a platform for multi-agent navigation and control in unknown environments. For successful navigation, such tasks as localization, map-building, and collision avoidance should be handled at the vehicle level. The proposed architecture covers these aspects...
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