Collision avoidance strategies for unmanned aerial vehicles in formation flight

Show simple item record Seo, Joongbo Kim, Youdan Kim, Seungkeun Tsourdos, Antonios 2017-08-29T14:41:24Z 2017-08-29T14:41:24Z 2017-06-13
dc.identifier.citation Seo J, Kim Y, Kim S, Tsourdos A, Collision avoidance strategies for unmanned aerial vehicles in formation flight, IEEE Transactions on Aerospace and Electronic Systems, Volume 56, Issue 6, December 2017, pp2718 - 2734 en_UK
dc.identifier.issn 0018-9251
dc.description.abstract Collision avoidance strategies for multiple UAVs (Unmanned Aerial Vehicles) based on geometry are investigated in this study. The proposed strategies allow a group of UAVs to avoid obstacles and separate if necessary through a simple algorithm with low computation by expanding the collision-cone approach to formation of UAVs. The geometric approach uses line-of-sight vectors and relative velocity vectors where dynamic constraints are included in the formation. Each UAV can determine which plane and direction are available for collision avoidance. An analysis is performed to define an envelope for collision avoidance, where angular rate limits and obstacle detection range limits are considered. Based on the collision avoidance envelope, each UAV in a formation determines whether the formation can be maintained or not while avoiding obstacles. Numerical simulations are performed to demonstrate the performance of the proposed strategies. en_UK
dc.language.iso en en_UK
dc.publisher IEEE en_UK
dc.rights Attribution-NonCommercial 4.0 International
dc.subject Collision avoidance en_UK
dc.subject Aircraft en_UK
dc.subject Geometry en_UK
dc.subject Military aircraft en_UK
dc.subject Unmanned aerial vehicles en_UK
dc.subject Heuristic algorithms en_UK
dc.subject Real-time systems en_UK
dc.title Collision avoidance strategies for unmanned aerial vehicles in formation flight en_UK
dc.type Article en_UK
dc.identifier.cris 18067862

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