A 3D collision avoidance strategy for UAVs in a non-cooperative environment

Yang, Xilin, Mejias, Luis, & Bruggemann, Troy S. (2012) A 3D collision avoidance strategy for UAVs in a non-cooperative environment. Journal of Intelligent and Robotic Systems, 70(1-4), pp. 315-327.

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This paper presents a feasible 3D collision avoidance approach for fixed-wing unmanned aerial vehicles (UAVs). The proposed strategy aims to achieve the desired relative bearing in the horizontal plane and relative elevation in the vertical plane so that the host aircraft is able to avoid collision with the intruder aircraft in 3D. The host aircraft will follow a desired trajectory in the collision avoidance course and resume the pre-arranged trajectory after collision is avoided. The approaching stopping condition is determined for the host aircraft to trigger an evasion maneuver to avoid collision in terms of measured heading. A switching controller is designed to achieve the spatial collision avoidance strategy. Simulation results demonstrate that the proposed approach can effectively avoid spatial collision, making it suitable for integration into flight control systems of UAVs.

Impact and interest:

19 citations in Scopus
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15 citations in Web of Science®

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Full-text downloads:

222 since deposited on 30 Aug 2012
40 in the past twelve months

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ID Code: 53391
Item Type: Journal Article
Refereed: Yes
Keywords: UAV, collision avoidance, switching control, PID control
DOI: 10.1007/s10846-012-9754-x
ISSN: 0921-0296
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 Springer Netherlands
Copyright Statement: The original publication is available at SpringerLink http://www.springerlink.com
Deposited On: 30 Aug 2012 05:00
Last Modified: 22 Sep 2014 23:55

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