A collision avoidance algorithm is developed and implemented that is applicable to different types of unmanned aerial systems ranging from a single platform with the ability to perform all collision avoidance functions independently to multiple vehicles performing functions as a cooperative group with collision avoidance commands computed at a ground station. The collision avoidance system is exercised and tested using operational hardware and platforms and is demonstrated in representative missions similar to those planned for operational systems. The results presented are the first known flight tests of a global, three-dimensional, geometric collision avoidance system on an unmanned aircraft system. Novel developments using an aggregated collision cone approach allows each unmanned aircraft to detect and avoid collisions with two or more other aircraft simultaneously. The collision avoidance system is implemented using a miniature unmanned aircraft with an onboard autopilot. Various test cases are used to demonstrate the algorithms robustness to different collision encounters. Two-ship encounters at various engagement angles are flight tested. The flight test results are compared with ideal, software-in-the-loop, and hardwarein-the-loop tests.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    UAS Collision Avoidance Algorithm that Minimizes the Impact on Route Surveillance


    Beteiligte:
    A. L. Smith (Autor:in)

    Erscheinungsdatum :

    2009


    Format / Umfang :

    213 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





    UAS Collision Avoidance Algorithm Minimizing Impact on Route Surveillance

    Smith, A. / Harmon, F. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2009



    Ship collision avoidance route planning using CRI-based A∗ algorithm

    Chanhee Seo / Yoojeong Noh / Misganaw Abebe et al. | DOAJ | 2023

    Freier Zugriff