Visual flight rules-based collision avoidance systems for UAV flying in civil aerospace

Simple item page
dc.contributor.authorAlturbeh, Hamid
dc.contributor.authorWhidborne, James F.
dc.date.accessioned2020-02-27T16:54:01Z
dc.date.available2020-02-27T16:54:01Z
dc.date.issued2020-02-25
dc.description.abstractThe operation of Unmanned Aerial Vehicles (UAVs) in civil airspace is restricted by the aviation authorities, which require full compliance with regulations that apply for manned aircraft. This paper proposes control algorithms for a collision avoidance system that can be used as an advisory system or a guidance system for UAVs that are flying in civil airspace under visual flight rules. A decision-making system for collision avoidance is developed based on the rules of the air. The proposed architecture of the decision-making system is engineered to be implementable in both manned aircraft and UAVs to perform different tasks ranging from collision detection to a safe avoidance manoeuvre initiation. Avoidance manoeuvres that are compliant with the rules of the air are proposed based on pilot suggestions for a subset of possible collision scenarios. The proposed avoidance manoeuvres are parameterized using a geometric approach. An optimal collision avoidance algorithm is developed for real-time local trajectory planning. Essentially, a finite-horizon optimal control problem is periodically solved in real-time hence updating the aircraft trajectory to avoid obstacles and track a predefined trajectory. The optimal control problem is formulated in output space, and parameterized by using B-splines. Then the optimal designed outputs are mapped into control inputs of the system by using the inverse dynamics of a fixed wing aircraft.en_UK
dc.identifier.citationAlturbeh H, Whidborne JF. (2020) Visual flight rules-based collision avoidance systems for UAV flying in civil aerospace. Robotics, Volume 9, February 2020, Article number 9en_UK
dc.identifier.issn2218-6581
dc.identifier.urihttps://doi.org/10.3390/robotics9010009
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/15196
dc.language.isoenen_UK
dc.publisherMDPIen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectunmanned aerial vehiclesen_UK
dc.subjectcollision avoidance systemen_UK
dc.subjectoptimal control systemen_UK
dc.subjecttrajectory planningen_UK
dc.subjectB-splinesen_UK
dc.titleVisual flight rules-based collision avoidance systems for UAV flying in civil aerospaceen_UK
dc.typeArticleen_UK

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
collision_avoidance_systems_for_UAV-2020.pdf
Size:
3.27 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.63 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Staff publications (SATM)