This paper proposes the application of an hp-adaptive pseudospectral for trajectory generation in scenarios with multiple aerial vehicles in order to avoid collisions. This method computes an optimal solution numerically. The method assigns a speed profile to each aerial vehicle in real time such that the separation between them is greater than a minimum safety value and the total deviation from the initial trajectories is minimized. The Estimated Time of Arrival (ETA) of each aerial vehicle is also taken into account to solve the conflicts. Its computational load and scalability depending on the main parameters of the method are studied. Many simulations have been performed to analyze the best parameters of the method. Experiments have been also carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (CATEC).


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An hp-adaptative pseudospectral method for collision avoidance with multiple UAVs in real-time applications


    Contributors:
    Vera, S. (author) / Cobano, J. A. (author) / Heredia, G. (author) / Ollero, A. (author)


    Publication date :

    2014-05-01


    Size :

    598879 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Reactive collision avoidance of multiple realistic UAVs

    Manathara, Joel George | Online Contents | 2011


    Reactive collision avoidance of multiple realistic UAVs

    Manathara, Joel George / Ghose, Debasish | Emerald Group Publishing | 2011


    Path Planning Method for Collision Avoidance of Multiple UAVs

    Kim, Hyeok / Kwak, Jeonghoon / Sim, Guichang et al. | Springer Verlag | 2017


    Rendezvous of Multiple UAVs with Collision Avoidance Using Consensus

    Manathara, Joel George | Online Contents | 2012


    Rendezvous of Multiple UAVs with Collision Avoidance Using Consensus

    Manathara, Joel George / Ghose, Debasish | ASCE | 2011