Collision avoidance between UAV clusters using swarm intelligence techniques

Sharma, RK and Ghose, D (2009) Collision avoidance between UAV clusters using swarm intelligence techniques. In: International Journal of Systems Science, 40 (5). pp. 521-538.

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Abstract

In this article, several basic swarming laws for Unmanned Aerial Vehicles (UAVs) are developed for both two-dimensional (2D) plane and three-dimensional (3D) space. Effects of these basic laws on the group behaviour of swarms of UAVs are studied. It is shown that when cohesion rule is applied an equilibrium condition is reached in which all the UAVs settle at the same altitude on a circle of constant radius. It is also proved analytically that this equilibrium condition is stable for all values of velocity and acceleration. A decentralised autonomous decision-making approach that achieves collision avoidance without any central authority is also proposed in this article. Algorithms are developed with the help of these swarming laws for two types of collision avoidance, Group-wise and Individual, in 2D plane and 3D space. Effect of various parameters are studied on both types of collision avoidance schemes through extensive simulations.

Item Type:	Journal Article
Publication:	International Journal of Systems Science
Publisher:	Taylor and Francis Group
Additional Information:	Copyright of this article belongs to Taylor and Francis Group.
Keywords:	collision avoidance;autonomous UAVs;swarm intelligence.
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	01 Jun 2009 09:19
Last Modified:	19 Sep 2010 05:33
URI:	http://eprints.iisc.ac.in/id/eprint/20562

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