This paper presents several concepts which can be applied for the implementation of a Sense & Avoid system for Unmanned Aircraft System (UAS). Besides the diversity of UAS, the lack of appropriate systems complying with the safety requirements for common air traffic in order to access non-segregated civil airspace is the main reason why current researches are mainly focused on the implementation of adequate system components enabling UAS to perform their missions safely in the mentioned airspace. Such a concept encompasses not only the capability of UAS to supplant the pilot but also the integration of proper sensors for the acquisition of obstacle information providing the basis for the autonomous decision of UAS. The first approach will give a short overview of adapting the ideas of the conventional Traffic Alert and Collision Avoidance System (TCAS). As TCAS declares different TAU-zones e.g. safety zones depending on operating altitudes and velocities, the avoiding strategies for UAS can be classified in dependence of detected ranges toward the obstacles and the curvature of the flight path. Both the generation of trajectories and the selection of adequate avoiding strategies are based on B-Spline (Basis Spline) in order to guarantee a smooth transition between each waypoint. The result of the simulation offers a potential solution regarding the implementation of a Sense & Avoid system. Secondly, the Distance Transformation applied in image processing is introduced for the purpose of determining proper flight paths amidst obstacles. This method transforms the terrain with its obstacles into a so called occupancy map consisting of a number of nodes. Whenever an obstacle is detected, a distinct value is allocated to this node. Based on the information of occupied nodes, a collision free flight trajectory can be generated. Finally, a combination of the Distance Transformation and search algorithm is introduced. As the name implies, the searches for an appropriate fast path and is a common method in selecting trajectories in robotics. Based on a cost function consisting of the cost for moving to the actual position and for the proceeding from this actual node to the goal, a feasible trajectory can be generated.


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    Titel :

    Conceptual aspect for developing a sense & avoid system for unmanned aircraft systems


    Beteiligte:
    Park, J.B. (Autor:in) / Vörsmann, P. (Autor:in)


    Erscheinungsdatum :

    2008


    Format / Umfang :

    12 Seiten, 10 Bilder, 2 Tabellen, 16 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch





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