Autonomous Landing of UAVs with Reactive Collision Avoidance using Mixed Guidance Scheme and Neuro Adaptive Controller

Tripathi, AK and Patel, VV and Padhi, R (2021) Autonomous Landing of UAVs with Reactive Collision Avoidance using Mixed Guidance Scheme and Neuro Adaptive Controller. In: 2021 International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation, IRIA 2021, 20-22 Sep 2021, Goa, pp. 364-369.

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Abstract

Autonomous landing of unmanned aerial vehicle with capability to avoid reactive collision using a mixed guidance scheme, which is a combination of 'geometric optimization technique' and 'collision cone approach' has been presented in this paper. Geometric optimization technique ensures minimal deviation from nominal trajectory to achieve optimal velocity, heading and elevation. Collision cone approach predicts collision ahead of time and provides aiming point for vehicle towards conflict resolution. A sobolev norm based robust neuro adaptive controller is designed to control the autonomous landing of vehicle with capability to avoid reactive collision under unknown external disturbances. A multilayer feed-forward network is designed based on radial basis function to estimate the unknown disturbances by fast learning. The autonomous landing vehicle senses the other UAV approaching towards it through its on board stereo vision sensing and performs a collision avoidance manoeuvre if the minimum predicted separation between UAVs is less than a predefined safety threshold distance. Both vehicles are simulated with a full fledged six degree of freedom model of a real vehicle. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	2021 International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation, IRIA 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Adaptive control systems; Air navigation; Antennas; Collision avoidance; Controllers; Degrees of freedom (mechanics); Multilayer neural networks; Multilayers; Radial basis function networks; Stereo image processing; Unmanned aerial vehicles (UAV), Autonomous landing; Collision cone; Collision cone approaches; Collisions avoidance; Geometric optimization; Multi-layer feed forward; Neuro adaptive; Neuro-adaptive controllers; Optimization techniques; Reactive collisions, Geometry
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	03 Dec 2021 08:49
Last Modified:	03 Dec 2021 08:49
URI:	http://eprints.iisc.ac.in/id/eprint/70628

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