Avoidance Maps: A New Concept in UAV Collision Avoidance

Tony, Lima Agnel and Ghose, Debasish and Chakravarthy, Animesh (2017) Avoidance Maps: A New Concept in UAV Collision Avoidance. In: International Conference on Unmanned Aircraft Systems (ICUAS), JUN 13-16, 2017, Miami, FL, pp. 1483-1492.

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Abstract

A new concept of avoidance map is introduced which can effectively execute collision avoidance among UAVs. It is based upon representation of the effect of control effort by pairs of UAVs on achievement of avoidance, thus partitioning the control effort space into avoidance and collision regions. To do this, it is demonstrated that collision avoidance can be carried out by applying constant acceleration control inputs to UAVs. Also, the duration for which a UAV needs to execute avoidance maneuver can be determined by monitoring the location of the origin coordinates of the control effort space on the partitioned region. The idea is developed in an intuitive way and is extended to multiple UAVs. Several examples are given to demonstrate the simplicity and effectiveness of the concept.

Item Type:	Conference Proceedings
Series.:	International Conference on Unmanned Aircraft Systems
Publisher:	IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Additional Information:	Copy right for the article belong to IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	15 Mar 2018 18:59
Last Modified:	15 Mar 2018 18:59
URI:	http://eprints.iisc.ac.in/id/eprint/59203

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