A method of automatic collision avoidance based on constant guidance law is proposed to solve the problem that the collision avoidance time is difficult to be estimated accurately during the collision avoidance process. The guidance command of the collision avoidance method is constant, and the lower bound of the constant guidance command satisfying the safe collision avoidance requirement is given by geometric method. Then, a collision avoidance time estimation method based on particle swarm optimization is proposed. In addition, the attitude control loop adopts the nonlinear proportional-integral-derivative based on tracking-differentiator, and the sufficient conditions for the system stability are given using the T-passive method. The simulation results show that the collision avoidance time estimation error is small and the maneuvering range of collision avoidance is smaller than the collision avoidance method based on proportional guidance and nonlinear dynamic inverse guidance. This method can achieve collision avoidance under the influence of wind disturbance and safety distance abrupt change.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A constant guidance law-based collision avoidance for unmanned aerial vehicles


    Contributors:
    Gai, Wendong (author) / Zhang, Ning (author) / Zhang, Jing (author) / Li, Yuxia (author)


    Publication date :

    2019-03-01


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Expansion rate based collision avoidance for Unmanned Aerial Vehicles

    Xin, Lei / Xiangke, Wang / Jie, Li et al. | IEEE | 2015



    APPARATUSES AND METHODS FOR UNMANNED AERIAL VEHICLES COLLISION AVOIDANCE

    QIU GENLIANG / WANG XIN / WU GUIYANG et al. | European Patent Office | 2022

    Free access

    APPARATUSES AND METHODS FOR UNMANNED AERIAL VEHICLES COLLISION AVOIDANCE

    QIU GENLIANG / WANG XIN / WU GUIYANG et al. | European Patent Office | 2023

    Free access

    APPARATUSES AND METHODS FOR UNMANNED AERIAL VEHICLES COLLISION AVOIDANCE

    QIU GENLIANG / WANG XIN / WU GUIYANG et al. | European Patent Office | 2021

    Free access