A novel approach to collision and obstacle avoidance in fixed-wing unmanned aerial systems with high speed and high inertia was developed by reformulating classical artificial potential field navigational approaches. Classical artificial potential field navigation is a formidable approach to collision avoidance for slow and small robots including rotary-wing UASs, however they lack robustness and adaptability for large fixed-wing aircraft flying in close proximity or congested areas. As part of a concept demonstration, this work presents the validation and verification of morphing potential collision avoidance using large unmanned aerial systems flying at 60 ft/sec. The morphing potential function was constrained by the aircraft's six-degree-of-freedom dynamic characteristics and maximum allowable bank angle. A virtual time-varying waypoint is used to navigate the aircraft in a dynamically changing environment. The validation flight tests were successfully conducted and real-time avoidance capabilities were demonstrated.


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    Title :

    Flight Test Validation of Collision and Obstacle Avoidance in Fixed-Wing UASs with High Speeds Using Morphing Potential Field


    Contributors:
    Keshmiri, Shawn (author) / Kim, A Ram (author) / Shukla, Daksh (author) / Blevins, Aaron (author) / Ewing, Mark (author)


    Publication date :

    2018-06-01


    Size :

    3545961 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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