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Global and local (or reactive) obstacle avoidance across unmanned aerial vehicle (UAV) altitudes is a challenging problem. In an UAV autonomous flight when the obstacle threat is determined in-flight from the on-board sensors, techniques to avoid the obstacles autonomously in real-time and continue with the predefined flight path need to be incorporated into the autonomous systems. Hence a requirement...
This paper provides a preliminary analysis of an autonomous uncooperative collision avoidance strategy for unmanned aircraft using image-based visual control. Assuming target detection, the approach consists of three parts. First, a novel decision strategy is used to determine appropriate reference image features to track for safe avoidance. This is achieved by considering the current rules of the...
Direct collocation offers an efficient way of transcribing optimal control problems to form nonlinear optimizations. Collocation is particularly attractive for variable time problems as the finishing time can be made a decision variable. However, this causes problems in coupled multivehicle problems, for example, where different vehicles may have different finishing times. This paper proposes a way...
The task of the Air Traffic Control (ATC) is to optimize the use of air space and to avoid collision among aerial vehicles. Air space can be defined as a set of infinite number of planes, direction, routes etc. The existing ATC system can to maximizing the use of available air space but the human involvement at various stages limits it capability. The NextGen [1] vision of air traffic control system...
In this paper, we propose a control law that makes multiple non-holonomic vehicles converge to a limit cycle with the same relative phase angle. All the agents use information on only their neighbors with which they can communicate. An adjacency matrix is used to represent the connectivity among the agents. With the phase portrait of the limit cycle and the heading angles of the vehicles, we derive...
Traditional sensors for obstacle detection on aircraft, such as radar, are too heavy for fixed wing micro air vehicles and make obstacle detection and avoidance a difficult problem. EO/IR cameras are small and lightweight enough to offer an alternative to heavy sensors. Vision processing available on a ground station provides range and bearing to nearby obstacles. We propose a nonlinear guidance law...
This paper presents a collision avoidance method for multiple UAVs and other non-cooperative aircraft based on velocity planning and taking into account the trajectory prediction under uncertainties. The proposed method finds a safe trajectory from the predicted trajectory modifying the velocity profile of the different co-operative vehicles involved in the collision. A particle filter is used to...
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