UAV collision avoidance based on geometric approach

A method of collision avoidance is described by using simple geometric approach. Two UAVs are dealt with and considered as point masses with constant velocity. This paper discusses en route aircraft which are assumed to be linked by real time data bases like ADS-B. With this data base, all UAVs share the information each other. Calculating PCA (point of closest approach), we can evaluate the worst conflict condition between two UAVs. This paper proposes one resolution maneuvering logic, which can be called dasiavector sharing resolutionpsila. In case of conflict, using miss distance vector in PCA, we can decide the directions for two UAVs to share the conflict region. With these directions, UAVs are going to maneuver cooperatively. First of all, this paper describes some 2D conflict scenarios and then extends to 3D conflict scenarios.