학위논문 (박사)-- 서울대학교 대학원 : 기계항공공학부, 2014. 2. 김유단. ; A guidance law based on geometric configuration is proposed for collision avoidance of multiple UAVs(Unmanned Aerial Vehicles). The proposed guidance law makes multiple UAVs avoid obstacles and provides a guideline for formation separation considering dynamic constraints of the UAV. Geometric guidance uses the information of line-of-sight vector and relative velocity vector, and therefore it can generate the real-time guidance command. Each UAV can decide which plane and direction is available for collision avoidance. Analysis on collision avoidance is performed to provide a criterion for an envelope for collision avoidance. Maximum angular rate limit of the UAV and the range of the recognition are considered in the analysis. Based on the analysis of an envelope for collision avoidance, each UAV in formation receives an information to determine formation preservation or formation separation to avoid obstacles. Recognition process is also introduced for obstacle recognition and situation assessment on whether or not the collision avoidance is completed. Lyapunov Theorem is used to prove the stability of the proposed guidance law. Numerical simulations are performed to demonstrate the performance of the proposed guidance law and formation and separation strategy. ; Abstract Table of Contents List of Tables List of Figures Nomenclature Chapter 1 Introduction 1.1 Motivation and Objectives 1.2 Literature Survey 1.2.1 Optimized approach 1.2.2 Force-field approach 1.2.3 See-and-avoid approach 1.3 Contributions 1.4 Dissertation Outline 2 Fundamentals for Collision Avoidance 2.1 Definitions and Assumptions 2.2 Equation of Motions 3 Collision Avoidance Guidance 3.1 Collision Avoidance based on Geometric Configuration 3.1.1 Single obstacle 3.1.2 Multiple obstacles 3.1.3 Guidance logic for collision avoidance 3.2 Design of Guidance Controller 3.3 Guidance for Collision Avoidance in Constrained Envelope 3.3.1 Envelope for successful avoidance 3.3.2 Collision avoidance of multiple UAVs with envelope analysis 3.4 Formation Keeping and Separation 3.4.1 Strategy of formation keeping and separation 3.4.2 Condition of formation keeping and separation 4 Numerical Simulations 4.1 Simulation Configuration 4.2 Collision Avoidance for Stationary Obstacle 4.3 Collision Avoidance for Moving Obstacle 4.4 Formation Sepearation for Moving Obstacle 5 Conclusions and Future Works 5.1 Concluding Remarks 5.2 Future Research Directions References Appendix A Lyapunov Control Law Design B Feedback Linearization ; Doctor


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    Title :

    Collision Avoidance for Multiple Unmanned Aerial Vehicles based on Geometric Configuration ; 편대를 이룬 다수 무인기의 기하학적 구조 기반 충돌회피 연구



    Publication date :

    2014-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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