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Title: UAV collision avoidance based on geometric approach
Authors: Park, Jung-Woo
Oh, Hyondong
Tahk, Min-Jea
Keywords: Vector sharing resolution
Cooperative collision avoidance
Point of Closest Approach (PCA)
Sphere protected zone
Issue Date: 2008
Publisher: IEEE / © SICE
Citation: PARK, J.-W., OH, H. and TAHK, M.-J., 2008. UAV collision avoidance based on geometric approach. IN: Proceedings of the 2008 SICE Annual Conference, 20th-22nd August 2008, Tokyo, pp. 2122 - 2126.
Abstract: 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.
Description: © 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Version: Accepted for publication
DOI: 10.1109/SICE.2008.4655013
URI: https://dspace.lboro.ac.uk/2134/17861
Publisher Link: http://dx.doi.org/10.1109/SICE.2008.4655013
ISBN: 9784907764302
Appears in Collections:Conference Papers and Contributions (Aeronautical and Automotive Engineering)

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