A spatial collision avoidance strategy for UAVs in a non-cooperative environment
Data(s) |
01/06/2012
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Resumo |
This paper presents a feasible spatial collision avoidance approach for fixed-wing unmanned aerial vehicles (UAVs). The proposed strategy aims to achieve the desired relative bearing in the horizontal plane and relative elevation in the vertical plane so that the host aircraft is able to avoid collision with the intruder aircraft in 3D. The host aircraft will follow a desired trajectory in the collision avoidance course and resume the pre-arranged trajectory after collision is avoided. The approaching stopping condition is determined for the host aircraft to trigger an evasion maneuver to avoid collision in terms of measured heading. A switching controller is designed to achieve the spatial collision avoidance strategy. Simulation results demonstrate that the proposed approach can effectively avoid spatial collision, making it suitable for integration into flight control systems of UAVs. |
Formato |
application/pdf |
Identificador | |
Relação |
http://eprints.qut.edu.au/50716/1/collision_av3d.pdf Yang, Xilin, Mejias, Luis, & Bruggemann, Troy S. (2012) A spatial collision avoidance strategy for UAVs in a non-cooperative environment. In Digital Proceedings of the 2012 International Conference on Unmanned Aircraft Systems (ICUAS'12), Sheraton Philadelphia University City Hotel, Philadelphia, PA. (In Press) http://purl.org/au-research/grants/ARC/LP100100302 |
Direitos |
Copyright 2012 [please consult the author] |
Fonte |
Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #090104 Aircraft Performance and Flight Control Systems #090602 Control Systems Robotics and Automation #Collision Avoidance #UAS #UAV #sense and avoid |
Tipo |
Conference Paper |