d80b11976882ab0b3e2002722c535a32 appsci_a2019v9n4p798.pdf f31e60a13bedb2e7590bc19b1c46c7aabbd22a45 appsci_a2019v9n4p798.pdf 8830446d7385ff1c3ba0b09e2148e3ad42af59b40ae865bd2d291f83e7feeae4 appsci_a2019v9n4p798.pdf Title: Research on the Collision Avoidance Algorithm for Fixed-Wing UAVs Based on Maneuver Coordination and Planned Trajectories Prediction Subject: This paper presents a novel collision avoidance (CA) algorithm for a cooperative fixed-wing unmanned aerial vehicle (UAV). The method is based on maneuver coordination and planned trajectory prediction. Each aircraft in a conflict generates three available maneuvers and predicts the corresponding planned trajectories. The algorithm coordinates planned trajectories between participants in a conflict, determines which combination of planned trajectories provides the best separation, eventually makes an agreement on the maneuver for collision avoidance and activates the preferred maneuvers when a collision is imminent. The emphasis is placed on providing protection for UAVs, while activating maneuvers late enough to reduce interference, which is necessary for collision avoidance in the formation and clustering of UAVs. The CA has been validated with various simulations to show the advantage of collision avoidance for continuous conflicts in multiple, high-dynamic, high-density and three-dimensional (3D) environments. It eliminates the disadvantage of traditional CA, which has high uncertainty, and takes the performance parameters of different aircraft into consideration and makes full use of the maneuverability of fixed-wing aircraft. Keywords: fixed-wing UAV; Collision avoidance; conflict resolution; maneuver coordination Author: Yu Wan, Jun Tang and Songyang Lao Creator: LaTeX with hyperref package Producer: pdfTeX-1.40.18 CreationDate: Mon Feb 25 07:35:49 2019 CET ModDate: Mon Feb 25 07:35:49 2019 CET Tagged: no UserProperties: no Suspects: no Form: none JavaScript: no Pages: 20 Encrypted: no Page size: 595.276 x 841.89 pts (A4) Page rot: 0 File size: 6359284 bytes Optimized: no PDF version: 1.5 name type encoding emb sub uni object ID ------------------------------------ ----------------- ---------------- --- --- --- --------- WLGCTE+URWPalladioL-Ital Type 1 Custom yes yes no 94 0 DZHXLI+URWPalladioL-Bold Type 1 Custom yes yes no 95 0 MTEXAO+URWPalladioL-Roma Type 1 Custom yes yes no 96 0 CRVMKC+TimesNewRomanPS-BoldItalicMT Type 1C WinAnsi yes yes no 101 0 MCBCCI+SourceSansRoman-Regular Type 1C Custom yes yes no 118 0 MCBCCM+SourceSansRoman.613wght Type 1C Custom yes yes no 119 0 MCBCCO+SourceSansRoman-Bold Type 1C Custom yes yes no 120 0 OHCVVQ+CMSY10 Type 1 Builtin yes yes no 210 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 217 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 218 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 219 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 220 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 221 0 GIGFZE+CMR10 Type 1 Builtin yes yes no 276 0 HVSBKL+PazoMath Type 1 Builtin yes yes no 277 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 303 0 BIEPIO+CambriaMath CID TrueType Identity-H yes yes yes 304 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 305 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 306 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 307 0 BIELAG+TimesNewRoman CID TrueType Identity-H yes yes yes 308 0 QIELJB+CMMI10 Type 1 Builtin yes yes no 368 0 PNCGPY+CMEX10 Type 1 Builtin yes yes no 370 0 QCZXUC+PazoMath-Italic Type 1 Builtin yes yes no 382 0 BIEPIO+CambriaMath CID TrueType Identity-H yes yes yes 413 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 414 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 415 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 416 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 417 0 BIELAG+TimesNewRoman CID TrueType Identity-H yes yes yes 418 0 BIEPIO+CambriaMath CID TrueType Identity-H yes yes yes 489 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 490 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 491 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 492 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 493 0 BIELAG+TimesNewRoman CID TrueType Identity-H yes yes yes 494 0 BIEPIO+CambriaMath CID TrueType Identity-H yes yes yes 556 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 557 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 558 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 559 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 560 0 BIELAG+TimesNewRoman CID TrueType Identity-H yes yes yes 561 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 651 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 652 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 653 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 654 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 655 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 656 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 657 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 714 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 715 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 716 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 717 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 718 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 719 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 720 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 789 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 790 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 791 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 792 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 793 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 794 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 795 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 796 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 850 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 851 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 852 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 853 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 854 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 855 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 856 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 857 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 922 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 923 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 924 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 925 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 926 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 927 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 928 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 975 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 976 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 977 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 978 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 979 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 980 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 981 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1043 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1044 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1045 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1046 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1047 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1048 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 1049 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1100 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1101 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1102 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1103 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1104 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1105 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 1106 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1157 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1158 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1159 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1160 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1161 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1162 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 1163 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 1225 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1226 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1227 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1228 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1229 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1230 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1231 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 1232 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 1285 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1286 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1287 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1288 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1289 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1290 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1291 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 1292 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 1344 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1345 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1346 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1347 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1348 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1349 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1350 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 1351 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 1420 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1421 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1422 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1423 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1424 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1425 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1426 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 1427 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 1492 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1493 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1494 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1495 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1496 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1497 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1498 0 BIELLD+Calibri CID TrueType Identity-H yes yes yes 1499 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 1570 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1571 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1572 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1573 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1574 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1575 0 BIELAG+TimesNewRoman CID TrueType Identity-H yes yes yes 1576 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1577 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 1625 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1626 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1627 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1628 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1629 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1630 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1631 0 BIEJEK+PalatinoLinotype CID TrueType Identity-H yes yes yes 1665 0 BIEPGO+SimSun CID TrueType Identity-H yes yes yes 1666 0 BIFDLF+DengXian CID TrueType Identity-H yes yes yes 1667 0 BIEJEL+PalatinoLinotype TrueType WinAnsi yes yes no 1668 0 BIEJIM+PalatinoLinotype,Italic TrueType WinAnsi yes yes no 1669 0 BIEJIO+PalatinoLinotype,Bold TrueType WinAnsi yes yes no 1670 0 BIELGE+Arial CID TrueType Identity-H yes yes yes 1671 0 java.lang.ClassCastException: edu.harvard.hul.ois.jhove.module.pdf.PdfSimpleObject cannot be cast to edu.harvard.hul.ois.jhove.module.pdf.PdfDictionary at edu.harvard.hul.ois.jhove.module.PdfModule.readDocCatalogDict(PdfModule.java:1284) at edu.harvard.hul.ois.jhove.module.PdfModule.parse(PdfModule.java:525) at edu.harvard.hul.ois.jhove.JhoveBase.processFile(JhoveBase.java:825) at edu.harvard.hul.ois.jhove.JhoveBase.process(JhoveBase.java:614) at edu.harvard.hul.ois.jhove.JhoveBase.dispatch(JhoveBase.java:465) at Jhove.main(Jhove.java:296) Jhove (Rel. 1.6, 2011-01-04) Date: 2019-09-27 05:08:17 CEST RepresentationInformation: appsci_a2019v9n4p798.pdf ReportingModule: BYTESTREAM, Rel. 1.3 (2007-04-10) LastModified: 2019-04-29 10:46:43 CEST Size: 6359284 Format: bytestream Status: Well-Formed and valid SignatureMatches: PDF-hul MIMEtype: application/octet-stream Checksum: 5aa5a1d1 Type: CRC32 Checksum: d80b11976882ab0b3e2002722c535a32 Type: MD5 Checksum: f31e60a13bedb2e7590bc19b1c46c7aabbd22a45 Type: SHA-1