Study on collision avoidance for unmanned aerial vehicle and reach the goal

With the application of the unmanned aerial vehicle (UAV) on the battlefield, how to avoid obstacle and reach the goal has been becoming crucial issues. In this paper, a collision avoidance algorithm for UAV based on the conventional proportional navigation (PN) guidance law is studied. First, the concept of the collision avoidance vector is introduced. Based on the idea of proportional navigation guidance law, we guide the direction of the relative velocity of the UAV to the direction of collision avoidance vector to complete collision avoidance. Meanwhile considering the constraints of maneuver performance of the UAV and completion-time of collision avoidance, this paper gives the relationship of the normal acceleration and the completion-time of collision avoidance with the proportional navigation coefficient. After the UAV reaching the collision avoidance point, we make path planning also by using the proportional navigation law and the UAV reach the moving target at last. Simulation results show the effectiveness of the algorithm.