Selective Velocity Obstacle Method for Cooperative Autonomous Collision Avoidance System for Unmanned Aerial Vehicles

Jenie, Yazdi I.; Kampen, Erik-Jan van; Visser, Coen C. de; Chu, Q.P.

doi:10.2514/6.2013-4627

Cited by 15 publications

(9 citation statements)

References 9 publications

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“…Noncooperative approaches are the most challenging aspects of the collision avoidance problem because of the high uncertainty in other agents' states. As reported in Jenie et al (2013), non-cooperative avoidance is meant to be the last layer of safety in the MAV flight. It is conducted in a small sphere that stretches until a short time regarding the limit of the proximity sensor used before collisions, and the aim is to avoid the protected zone as soon as possible.…”

Section: Non-cooperative Collision Avoidance Conceptmentioning

confidence: 99%

“…As we can see in this figure, in the condition of non‐cooperative collision avoidance, the sensing, collision detection, and avoidance should be conducted in a short time because of the short distance from the MAV to the coming obstacle. To make the system work faster, the collision detecting process sometimes is skipped (Jenie et al, 2013). Hence, in this survey, we focus on the sensing and obstacle detection part of non‐cooperative collision avoidance.…”

Section: Sensing and Detection For Non‐cooperative Collision Avoidanc...mentioning

confidence: 99%

See 1 more Smart Citation

A comprehensive survey on non‐cooperative collision avoidance for micro aerial vehicles: Sensing and obstacle detection

Lü

Fasano

Carrio³

et al. 2023

Journal of Field Robotics

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In recent years, unmanned aerial vehicles (UAVs) have been confirmed as a powerful tool for countless applications in nearly every industry, in which collision avoidance plays a vital role for micro aerial vehicles (MAVs) performing autonomous missions.The complexity of collision avoidance systems is directly related to the complexity of the navigation environment, the avoidance of highly uncertain obstacles being a more thoroughly researched critical aspect. The non-cooperative collision avoidance strategy is necessary when communication between the agents is unavailable, under the case with many existing passive obstacles and non-cooperative flying objects. In this article, we review the topic of non-cooperative collision avoidance for MAVs in dynamic environments by covering two main issues: onboard sensing and obstacle description algorithms. A detailed discussion of these two topics is provided to face non-cooperative collision avoidance technology for MAVs. Finally, the paper summarizes the open challenges and foreseen future directions in this field.

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Section: Non-cooperative Collision Avoidance Conceptmentioning

confidence: 99%

Section: Sensing and Detection For Non‐cooperative Collision Avoidanc...mentioning

confidence: 99%

A comprehensive survey on non‐cooperative collision avoidance for micro aerial vehicles: Sensing and obstacle detection

Lü

Fasano

Carrio³

et al. 2023

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…These three modes are used especially to generate a deconflicting maneuver, a maneuver that can resolve conflict while keeping the deviation as small as possible. 5,14,2 The maintainmode is especially defined to eliminate the oscillation problem that occurs in the basic VO-method.…”

Section: A Criteriamentioning

confidence: 99%

“…The VO-method is explained in a similar manner as Ref. 2, elaborated by its criteria, algorithm, and strategy. The main goal is to modify the former VO-method for the three dimensional space, especially for UAVs applications.…”

mentioning

confidence: 99%

“…5 Hence, research for UAVs is currently focused more on an autonomous Conflict Detection and Resolution (CD&R) system. Ref.2 presents a method for such a system that generates a deconflict maneuver 5,2 that is guided by common rules of the air. The method is called the Selective Velocity Obstacle (SVO) Method and it is an extension of the Velocity Obstacle Method (VO-method).…”

mentioning

confidence: 99%

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Three-Dimensional Velocity Obstacle Method for UAV Deconflicting Maneuvers

Jenie

Kampen

Visser

et al. 2015

AIAA Guidance, Navigation, and Control Conference

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Autonomous systems are required in order to enable UAVs to conduct self-separation and collision avoidance, especially for flights within the civil airspace system. A method called the Velocity Obstacle Method can provide the necessary situational awareness for UAVs in a dynamic environment, and can help to generate a deconflicting maneuver. This paper focuses on the assessment of the Velocity Obstacle Method application and its ability to resolve various conflict situations in three dimensional space. This assessment results in a redefinition of the criteria of avoidance. A novel technique is introduced to support the avoidance decision, by representing the conflict situation in various avoidanceplanes. Several new definitions to support the method are introduced. This method is then implemented in three-dimensional simulations for UAVs in cases of conflict, in which more than one option of resolution is provided.

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Real-Time Motion-Planning in Dynamic Environments via Enhanced Velocity Obstacle

Shahidi

Peitsch

Klimmek

et al. 2020

Advances in Robot Kinematics 2020

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Selective Velocity Obstacle Method for Cooperative Autonomous Collision Avoidance System for Unmanned Aerial Vehicles

Cited by 15 publications

References 9 publications

A comprehensive survey on non‐cooperative collision avoidance for micro aerial vehicles: Sensing and obstacle detection

A comprehensive survey on non‐cooperative collision avoidance for micro aerial vehicles: Sensing and obstacle detection

Three-Dimensional Velocity Obstacle Method for UAV Deconflicting Maneuvers

Real-Time Motion-Planning in Dynamic Environments via Enhanced Velocity Obstacle

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