Collision detection algorithm for UAVs based on parametric theorem approach

The probability of collision to be happening between UAVs is increased with increasing the number of air traffic operation. A robust of CAS for cooperative UAV becomes a serious concern. One of the important parts in CAS is to create optimal collision detection in order to guide the activation of collision avoidance mode. In this paper, collision detection algorithm for UAVs is proposed to determine whether collision between two UAVs (both are in moving state) is imminent or not. Using the parametric form, the interception point is proposed and the time different between UAVs to reach the interception point are investigated. The collision detection algorithm is developed to predict the collision of two moving point UAVs. This algorithm also is verified by satisfactory simulation results.