Recent Developments in Unmanned Aircraft Systems 2011
DOI: 10.1007/978-94-007-3033-5_16
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Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles

Abstract: Abstract:The integration of Unmanned Aerial Vehicles (UAVs) requires new methods to certify collision avoidance systems. This paper presents a safety clearance process for obstacle avoidance systems where worst case analysis is performed using optimization based approaches under all possible parameter variations. The clearance criterion for the UAV obstacle avoidance system is defined as the minimum distance from the aircraft to the obstacle during the collision avoidance manoeuvre. Local and global optimizati… Show more

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Cited by 5 publications
(12 citation statements)
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“…Therefore, simulation is essential for providing numerical solutions. This work is an extension of the work presented in [10], where the optimization based verification process has been proposed for a small scale unmanned aircraft. In addition to looking into a different application, there are two main extensions in this paper: first the moving object avoidance is considered in this paper which makes the prediction of the possible worst-cases more complicated and challenging; secondly the uncertainty in sensor measurements are considered in this paper.…”
Section: The Contributions Of This Papermentioning
confidence: 99%
See 1 more Smart Citation
“…Therefore, simulation is essential for providing numerical solutions. This work is an extension of the work presented in [10], where the optimization based verification process has been proposed for a small scale unmanned aircraft. In addition to looking into a different application, there are two main extensions in this paper: first the moving object avoidance is considered in this paper which makes the prediction of the possible worst-cases more complicated and challenging; secondly the uncertainty in sensor measurements are considered in this paper.…”
Section: The Contributions Of This Papermentioning
confidence: 99%
“…The moving obstacle avoidance algorithm passes the verification process if the minimum distance to the obstacle at the identified worst cases satisfy the anti-collision condition. Otherwise, the obstacle avoidance algorithm and controller have to be redefined to satisfy the anti-collision condition [10]. Several optimization algorithms are investigated for the verification of the obstacle avoidance algorithms in this paper.…”
Section: Min = Min(d(t)) For T ≤ T (Sec) St P L ≤ P≤ P Umentioning
confidence: 99%
“…In terms of safety, both control and obstacle avoidance systems must prove that they can reach the goal node in all possible vehicular and environmental variations. 14 Without these capabilities the use of unmanned vehicular system will be highly restricted to time-invariant, a priori defined environments. 14 For realistic path planning the UAV must be equipped with an advanced sensory system for environmental sensing that shall be able to detect new COTs as they appear in the scenario space.…”
Section: The Need For Dynamic Path Planningmentioning
confidence: 99%
“…8 Some path planners focused on path optimisation in an obstacle-free environment [9][10][11] but in real situations the environment incorporates different COTs. [12][13][14] This review will analyse dynamic environmental modelling with its various obstacle definitions in the context of real-time 3D UAV path planning. It is not the scope of this work to review path planning of UAVs.…”
Section: A Introductionmentioning
confidence: 99%
“…In some circumstances, such as loss of data link, full control must be handed to the UAV to avoid a conflict, and so these systems need to be verified to a very high degree of confidence. j.dunthorne@lboro.ac.uk w.chen@lboro.ac.uk s.j.dunnett@lboro.ac.uk www.lucasresearch.co.uk Recent research on the clearance of flight control and collision avoidance systems has focused on optimisation based methods [2], [3]. Computational load increases exponentially with the number of problem dimensions, and so their use is currently restricted to smaller problems.…”
Section: Introductionmentioning
confidence: 99%