UAV collision avoidance based on geometric approach

Park, Jung‐Woo; Oh, Hyondong; Tahk, Min-Jea

doi:10.1109/sice.2008.4655013

Cited by 125 publications

(77 citation statements)

References 5 publications

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“…9 and Ref. 10, assuming the availability of such systems for small vehicles. In this research, vehicles that share their data using this surveillance are referred to as cooperative-vehicles.…”

Section: A Methods For Airspace Surveillancesmentioning

confidence: 99%

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Conflict Detection and Resolution System Architecture for Unmanned Aerial Vehicles in Civil Airspace

Jenie

Kampen

Ellerbroek

2015

AIAA Infotech @ Aerospace

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A novel architecture for a general Unmanned Aerial Vehicle (UAV) Conflict Detection and Resolution (CD&R) system, in the context of their integration into the civilian airspace, is proposed in this paper. The architecture consists of layers of safety approaches, each representing a combination of different methods for surveillance, coordination, action, and decision. These are collected from a survey of various CD&R methods existing in both manned and unmanned domains. The combination process shows that some approaches are suitable, while others are not, for the context of UAV integration. The suitable approaches are then arranged using the 'defense in depth' concept, where each layer filters a specific type of intruder. The final arrangement is set as the proposed architecture, and implemented in an assumed UAV operation within the civil airspace. System and infrastructure considerations are discussed for several examples of prospective types of operation in the airspace.

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Section: A Methods For Airspace Surveillancesmentioning

confidence: 99%

“…Another example is an explicitly coordinated deconflict that relies on centralized-dependent-surveillance. 10,31,35,32 This approach is unpractical since it requires a ground station that is able to track UAVs all the time.…”

Section: B Arrangement and Comparisonmentioning

confidence: 99%

Conflict Detection and Resolution System Architecture for Unmanned Aerial Vehicles in Civil Airspace

Jenie

Kampen

Ellerbroek

2015

AIAA Infotech @ Aerospace

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“…Relating Equation (6) to the miss interval [ r m ], we define the difference to be the resolution zone r res in Equation (7) [15]. A conflict is therefore said to be occurring when the minimum value (infinum) r res ≤ 0; indicating less the sufficient separation at t = τ .…”

Section: B Safe Separationmentioning

confidence: 99%

“…Under the principle of Vector Sharing, we can determine that the optimal course correction is one parallel to the miss interval [ r m ] [11], [15].…”

Section: Optimal Correctionmentioning

confidence: 99%

An interval approach to multiple unmanned aerial vehicle collision avoidance

Douthwaite

Freitas

Mihaylova

2017

2017 Sensor Data Fusion: Trends, Solutions, Applications (SDF)

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Abstract-Small/micro Unmanned Aerial Systems (UAVs) require the ability to operate with constraints of a diverse, automated airspace where obstacle telemetry is denied. This paper proposes a novel Sense, Detect and Avoid (SDA) algorithm with inherit resilience to sensor uncertainty. This is achieved through the interval geometric formulation of the avoidance problem, which by the use of interval analysis, can be extended to consider multiple obstacles. The approach is shown to demonstrate the ability to both tolerate sensor uncertainty and enact generated 3D avoidance trajectories. Monte-Carlo simulations demonstrate successful avoidance rates of 88%, 96% and 91% in two example collision scenarios and one multi-agent conflict scenario respectively.

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“…Raja et al [2] introduced the Waiting Time Concept algorithm to resolve the problem of motion planning for a robot. A Conflict Detection and Resolution method was described by using geometric approach for unmanned aerial vehicles in a dynamic environment [3], while the survey in [4] reveals that the potential field method has been applied to various robot motion planning in the last three decades. Therefore, in this paper, the artificial potential field method is chosen as a candidate technique of path planning and moving obstacle avoidance for the verification study as it is simple and widely used.…”

Section: Introductionmentioning

confidence: 99%

Worst-case analysis of moving obstacle avoidance systems for unmanned vehicles

Srikanthakumar

Chen

2014

Robotica

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SUMMARYThis paper investigates worst-case analysis of a moving obstacle avoidance algorithm for unmanned vehicles in a dynamic environment in the presence of uncertainties and variations. Automatic worst-case search algorithms are developed based on optimization techniques, and illustrated by a Pioneer robot with a moving obstacle avoidance algorithm developed using the potential field method. The uncertainties in physical parameters, sensor measurements, and even the model structure of the robot are taken into account in the worst-case analysis. The minimum distance to a moving obstacle is considered as an objective function in automatic search process. It is demonstrated that a local nonlinear optimization method may not be adequate, and global optimization techniques are necessary to provide reliable worst-case analysis. The Monte Carlo simulation is carried out to demonstrate that the proposed automatic search methods provide a significant advantage over random sampling approaches.

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UAV collision avoidance based on geometric approach

Cited by 125 publications

References 5 publications

Conflict Detection and Resolution System Architecture for Unmanned Aerial Vehicles in Civil Airspace

Conflict Detection and Resolution System Architecture for Unmanned Aerial Vehicles in Civil Airspace

An interval approach to multiple unmanned aerial vehicle collision avoidance

Worst-case analysis of moving obstacle avoidance systems for unmanned vehicles

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