Sense and collision avoidance of Unmanned Aerial Vehicles using geometric guidance and flatness approaches

Author

Yu Fu ; Soupin, Puthy ; Xiang Yu ; Youmin Zhang ; Cole, Phil

Author_Institution

Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC, Canada

fYear

2015

fDate

9-12 June 2015

Firstpage

601

Lastpage

606

Abstract

This paper describes the development of a Sense and Avoid (S&A) algorithm that can ensure an Unmanned Aerial Vehicle (UAV) being able to avoid collisions autonomously. Firstly, the Closest Point of Approach (CPA) can predict the conflict. Secondly, the developed path planner generates the feasible path using differential geometric guidance and flatness techniques, where the constraints of UAV dynamics are considered. The effectiveness of the developed scheme is demonstrated by flight tests carried out at the Marinvent© Flight Simulator.

Keywords

aerospace simulation; autonomous aerial vehicles; collision avoidance; robot dynamics; CPA; Marinvent flight simulator; S-and-A algorithm; UAV dynamics constraints; closest point-of-approach; conflict prediction; differential geometric guidance technique; flatness approach; flight tests; path planner; sense-and-collision avoidance; unmanned aerial vehicles; Aircraft; Collision avoidance; Safety; Trajectory; Turning; Unmanned aerial vehicles; CPA; Sense and avoid; UAV; differential geometric guidance; flatness;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2015 International Conference on

Conference_Location

Denver, CO

Print_ISBN

978-1-4799-6009-5

Type

conf

DOI

10.1109/ICUAS.2015.7152341

Filename

7152341