Multisensor based Fully Autonomous Non-Cooperative Collision Avoidance System for UAVs

Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio; Carbone, C.; Ciniglio, Umberto; Corraro, Federico; Luongo, Salvatore

doi:10.2514/6.2007-2847

Cited by 14 publications

(14 citation statements)

References 5 publications

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“…In this case, the consideration of on-board sensors the error model defined in [19] implies that it is necessary a ΔR increase of the safety bubble radius and height, so allowing the avoidance of the cylindrical safety bubble with radius R and height h even in presence of navigation sensors errors.…”

Section: A Scenario 1: Non-cooperative Manoeuvres With Ideal Navigatmentioning

confidence: 99%

“…12 where Cumulative Distribution Function (CDF) associated with random variable D is represented. [19] (Fig. 13), which applies also to obstacle detection sensors; B-iii.…”

Section: A Scenario 1: Non-cooperative Manoeuvres With Ideal Navigatmentioning

confidence: 99%

“…18). On-board navigation sensors simulated by realistic uncertainty model [19], which applies also to obstacle detection sensors; D-iii. Maneuvers are cooperative; D-iv.…”

Section: Scenario 3: Cooperative Manoeuvres With Realistic Navigatmentioning

confidence: 99%

“…Virtual safety bubble radius and height: R' = h' = R +ΔR = 334.8 m (1100 ft), with ΔR = 30 m (100 ft); C-ii. On-board navigation sensors simulated by realistic uncertainty model [19], which applies also to obstacle detection sensors; C-iii. Maneuvers are cooperative, i.e.…”

Section: Scenario 3: Cooperative Manoeuvres With Realistic Navigatmentioning

confidence: 99%

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A novel 3D analytical algorithm for autonomous collision avoidance considering cylindrical safety bubble

Luongo

Corraro

Ciniglio

et al. 2010

2010 IEEE Aerospace Conference

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This paper presents an innovative 3D analytical algorithm for the resolution of the pair-wise noncooperative collision avoidance problem between aircrafts. The proposed algorithm addresses the above described problem by using an innovative approach, based on the consideration of a cylindrical safety bubble, and it is able to obtain an optimal three-dimensional analytical solution for this problem. This novel approach allows different minimum separations on the vertical and horizontal planes with respect to the nominal trajectory to be achieved, so minimizing the impact of the collision avoidance maneuver on surrounding traffic. Moreover, the algorithm has the very interesting feature that it does not require the solution of any non deterministic and/or iterative problem, resulting suitable for real-time applications. This is due to the capability of the algorithm to find a closed form solution for the kinematic optimization problem here considered. The solution of the collision avoidance problem requires the simultaneous change of all control variables (speed module, track and slope angles), aiming to assure the required safety level and, at the same time, to minimize aircraft deviation from the nominal trajectory. This system is mainly developed for unmanned aircraft vehicles, where high levels of autonomy (i.e. the avoidance maneuver is autonomously executed by a standard autopilot) are required, but it can also be used, as aid to pilots, in manned commercial aircrafts. The effectiveness of the algorithm is evaluated by means of numerical simulations, where suitable conflict scenarios, taking into account aircraft dynamics and on-board sensors errors and limitations, are considered. Scenarios where both aircrafts are equipped with the proposed collision avoidance algorithm or where both aircrafts are subjected to Visual Flight Rules are also considered. 1 2

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Section: A Scenario 1: Non-cooperative Manoeuvres With Ideal Navigatmentioning

confidence: 99%

“…12 where Cumulative Distribution Function (CDF) associated with random variable D is represented. [19] (Fig. 13), which applies also to obstacle detection sensors; B-iii.…”

Section: A Scenario 1: Non-cooperative Manoeuvres With Ideal Navigatmentioning

confidence: 99%

“…18). On-board navigation sensors simulated by realistic uncertainty model [19], which applies also to obstacle detection sensors; D-iii. Maneuvers are cooperative; D-iv.…”

Section: Scenario 3: Cooperative Manoeuvres With Realistic Navigatmentioning

confidence: 99%

Section: Scenario 3: Cooperative Manoeuvres With Realistic Navigatmentioning

confidence: 99%

See 2 more Smart Citations

A novel 3D analytical algorithm for autonomous collision avoidance considering cylindrical safety bubble

Luongo

Corraro

Ciniglio

et al. 2010

2010 IEEE Aerospace Conference

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“…By maximising ϕ, we can guarantee that L will be higher than twice the radius of the sphere that contains each vehicle in the image to estimate distance [8]. Fasano combined cameras and pulsed radar (to obtain range) to propose an approach for non-cooperative scenarios [9]. Saunders and Beard [10] developed an approach for fixed-wing vehicles to avoid obstacles using image measurements similar to the approach presented here but their approach uses range to objects.…”

Section: Introductionmentioning

confidence: 99%

Omnidirectional bearing-only see-and-avoid for small aerial robots

Mejias

Campoy

2011

The 5th International Conference on Automation, Robotics and Applications

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Abstract-Motivated by the growing interest in unmanned aerial system's applications in indoor and outdoor settings and the standardisation of visual sensors as vehicle payload. This work presents a collision avoidance approach based on omnidirectional cameras that does not require the estimation of range between two platforms to resolve a collision encounter. It will achieve a minimum separation between the two vehicles involved by maximising the view-angle given by the omnidirectional sensor. Only visual information is used to achieve avoidance under a bearing-only visual servoing approach. We provide theoretical problem formulation, as well as results from real flight using small quadrotors.

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