Sampling based collision avoidance for UAVs

Yucong Lin, Srikanth Saripalli

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

6 Scopus citations

Abstract

We present the design and implementation of a path planning algorithm for Unmanned Aerial Vehicles (UAVs) to avoid collisions with other aircraft. The aircraft are indifferent to the UAV. A sampling based method is developed to generate the avoidance path. The UAV's closed-loop system is used to simulate the trajectory in collision check used in path planning. The generated path is then checked against updated states of the UAV and obstacle aircraft, and a new path will be planned if the original one leads to a collision. The algorithm is validated in Hardware-In-the-Loop simulation (HIL) and real flight experiments. The paper shows that the algorithm is able to generate paths for the UAV to avoid obstacles of different numbers, approaching angles, and speeds.

Original languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1353-1358
Number of pages6
Volume2016-July
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Other

Other2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Lin, Y., & Saripalli, S. (2016). Sampling based collision avoidance for UAVs. In 2016 American Control Conference, ACC 2016 (Vol. 2016-July, pp. 1353-1358). [7525106] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7525106