Collision avoidance control law of a helicopter using information amount feedback

Ueno, Seiya; Higuchi, Tetsuya; Iwama, Keitai

doi:10.1109/sice.2008.4655012

Cited by 4 publications

(5 citation statements)

References 1 publication

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“…The broadcasting data packet is designed following the standard CPR format in ADS-B plus the following data with next waypoint in flight [6,7,14,15]. The standard CPR (Compact Position Reporting) will be useful to be capable of merging and integrating the UAV/CD&R system with other systems using Quasi-ADS-B.…”

Section: Uav/cdandr Quasi Ads-b Transceivermentioning

confidence: 99%

“…The proposed UAV/CD&R system is designed to allow different CD&R algorithms to be validated in real flight test. Assume that each algorithm requires different sensors; the proposed UAV/CD&R transceiver hardware is also capable of integrating sensor information into dynamic resolution [2,13,15]. In CD&R operation, when the aircraft detects vicinity flight activities in the near airspace, intruder will be identified by proximity advisory (PA) where the minor possibility of conflict is raised.…”

Section: Cdandr Algorithm and Validationmentioning

confidence: 99%

“…The avoidance path is calculated by the possible turning angle to decrease of overlapping ratio at most. With some restrict parameters by turning radius in constant speed, a safe right turn trajectory can be plotted to assist the pilot for conducting conflict avoidance [14,15].…”

Section: Time and Sector Recognition (Tsr)mentioning

confidence: 99%

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Quasi-ADS-B Based UAV Conflict Detection and Resolution to Manned Aircraft

Lin

Lai

2015

Journal of Electrical and Computer Engineering

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A Conflict Detection and Resolution (CD&R) system for manned/unmanned aerial vehicle (UAV) based on Automatic Dependent Surveillance-Broadcast (ADS-B) concept is designed and verified in this paper. The 900 MHz XBee-Pro is selected as data transponder to broadcast flight information among participating aircraft in omnirange. Standard Compact Position Report (CPR) format packet data are automatically broadcasted by ID sequencing under Quasi-ADS-B mechanism. Time Division Multiple Access (TDMA) monitoring checks the designated time slot and reallocates the conflict ID. This mechanism allows the transponder to effectively share data with multiple aircraft in near airspace. The STM32f103 microprocessor is designed to handle RF, GPS, and flight data with Windows application on manned aircraft and ground control station simultaneously. Different conflict detection and collision avoidance algorithms can be implemented into the system to ensure flight safety. The proposed UAV/CD&R using Quasi-ADS-B transceiver is tested using ultralight aircraft flying at 100–120 km/hr speed in small airspace for mission simulation. The proposed hardware is also useful to additional applications to mountain hikers for emergency search and rescue. The fundamental function by the proposed UAV/CD&R using Quasi-ADS-B is verified with effective signal broadcasting for surveillance and efficient collision alert and avoidance performance to low altitude flights.

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Section: Uav/cdandr Quasi Ads-b Transceivermentioning

confidence: 99%

Section: Cdandr Algorithm and Validationmentioning

confidence: 99%

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Quasi-ADS-B Based UAV Conflict Detection and Resolution to Manned Aircraft

Lin

Lai

2015

Journal of Electrical and Computer Engineering

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“…where T CPA in the avoidance control is the "time to closest point of approach" which is derived from the relative distance and the velocity of the evader and intruder. The precise definition and calculation of the values can be referred to [12].…”

Section: Collision Avoidance Controlmentioning

confidence: 99%

“…The avoidance control system under uncertain information has been studied in numerical simulation [12], [13]. In these studies, information amount which is treated as a physical value for collision avoidance is used.…”

Section: Introductionmentioning

confidence: 99%

Experiment of Collision Avoidance Control Law with Information Amount Feedback Using Vehicle Model

Higuchi

Kokubu

Ueno

2013

SICE Journal of Control, Measurement, and System Integration

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: This paper is on the experiment of the collision avoidance control law with information amount feedback using a vehicle model. The collision avoidance is a key technology for future mass transportation systems. The amount of information obtained by the evader is treated as a physical value for the collision avoidance feedback control. This will lower the risk of collision when information of the environment cannot be obtained due to various reasons and when the intruder is coming in from out-of-sight. This paper demonstrates the effect of collision avoidance control with information amount feedback using a vehicle model. The results show that the control law has the ability to lower the risk of the collision and works in the actual environment for collision avoidance with similar motion with that of humans.

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