Collision avoidance for UAVs using reachable sets

Yucong Lin, Srikanth Saripalli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Scopus citations


This paper presents a real-time path planning algorithm for UAVs to avoid collision with other aircraft. Reachable sets are used to represent the collection of possible trajectories of obstacle aircraft. It is used in collision prediction for UAVs in path planning. Once a collision is detected, a sampling-based method is used to generate a collision avoidance path. A second collision check is performed on the generated path with the updated UAV and aircraft' states. The path is re-planned if it leads to another collision. The algorithm is validated in Software-In-the-Loop simulation. ADS-B (Automatic Dependent Surveillance - Broadcast) data logged from commercial aircraft are used as the obstacle aircraft. The experiments show that reachable set improves the success rate for collision avoidance compared to the linear motion assumption for the obstacle aircraft.

Original languageEnglish (US)
Title of host publication2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages10
ISBN (Print)9781479960101
StatePublished - Jul 7 2015
Event2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 - Denver, United States
Duration: Jun 9 2015Jun 12 2015


Other2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Transportation
  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Collision avoidance for UAVs using reachable sets'. Together they form a unique fingerprint.

Cite this