Web of Science: 3 citas, Scopus: 2 citas, Google Scholar: citas
Research on the collision avoidance algorithm for fixed-wing UAVs based on maneuver coordination and planned trajectories prediction
Wan, Yu (National University of Defense Technology. College of systems engineering (Xina))
Tang, Jun (National University of Defense Technology. College of systems engineering (Xina))
Lao, Songyang (National University of Defense Technology. College of systems engineering (Xina))
Universitat Autònoma de Barcelona

Fecha: 2019
Resumen: 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.
Nota: MDPI-ACCESOBERT-UTP
Nota: El mail de contacte de l'autor correspon a la Universitat Autònoma de Barcelona
Derechos: Aquest document està subjecte a una llicència d'ús Creative Commons. Es permet la reproducció total o parcial, la distribució, la comunicació pública de l'obra i la creació d'obres derivades, fins i tot amb finalitats comercials, sempre i quan es reconegui l'autoria de l'obra original. Creative Commons
Lengua: Anglès.
Documento: article ; recerca ; publishedVersion
Materia: Fixed-wing UAV ; Collision avoidance ; Conflict resolution ; Maneuver coordination
Publicado en: Applied Sciences (Switzerland), Vol. 9, Issue 4 (February 2019) , art. 798, ISSN 2076-3417

DOI: 10.3390/app9040798


20 p, 6.1 MB

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 Registro creado el 2019-04-29, última modificación el 2020-01-10



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