TY - GEN
T1 - Collision avoidance for UAVs using reachable sets
AU - Lin, Yucong
AU - Saripalli, Srikanth
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/7
Y1 - 2015/7/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84941069787&partnerID=8YFLogxK
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U2 - 10.1109/ICUAS.2015.7152295
DO - 10.1109/ICUAS.2015.7152295
M3 - Conference contribution
AN - SCOPUS:84941069787
T3 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
SP - 226
EP - 235
BT - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Y2 - 9 June 2015 through 12 June 2015
ER -