Avoidance of Constant Velocity Targets Using Bearing and Time- to-Collision

This paper address the problem of path decon-fliction and collision avoidance for unmanned aerial vehicles equipped with a monocular optical camera. The measurements observed from the camera do not include range, but they do allow for calculation of time-to-collision. In this paper we exploit the idea that a single time-to-collision estimate may have come from any number of intruders with different range and velocities, to define a family of potential intruders. The family of potential intruders is represented by a set of particles that can then be propagated forward in time to represent the set of all potential collision scenarios. A path planning algorithm is then introduced to minimize the collision risk. The method is illustrated with simulation results.