Sense and avoid for Unmanned Aerial Vehicles using ADS-B

Yucong Lin, Srikanth Saripalli

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

17 Citations (Scopus)

Abstract

We present the design and implementation of an aircraft collision avoidance algorithm for Unmanned Aerial Vehicles (UAVs). Automatic Dependent Surveillance-Broadcast (ADS-B) is used to detect aircraft. The UAV needs to fly through pre-assigned waypoints while avoiding collisions with other aircraft. The aircraft are indifferent to the UAV. A collision with aircraft are detected by simulating the UAV's trajectory along the path of assigned waypoints using its closed-loop dynamics. A sampling based algorithm is used for collision avoidance path planning. A second collision check is performed on the generated path with the updated UAV and aircraft's states. The path will be re-planned if it leads to a collision. The algorithm was validated in Software-In-the-Loop Simulation (SITL). ADS-B data obtained from commercial aircraft flying over the Phoenix Skyharbor airport were used for simulating the collisions. The paper shows that the algorithm enables the UAV to avoid multiple aircraft with different approaching angles and speeds.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6402-6407
Number of pages6
Volume2015-June
EditionJune
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period5/26/155/30/15

Fingerprint

Unmanned aerial vehicles (UAV)
Aircraft
Collision avoidance
Motion planning
Airports
Trajectories
Sampling

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Lin, Y., & Saripalli, S. (2015). Sense and avoid for Unmanned Aerial Vehicles using ADS-B. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 6402-6407). [7140098] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7140098

Sense and avoid for Unmanned Aerial Vehicles using ADS-B. / Lin, Yucong; Saripalli, Srikanth.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 6402-6407 7140098.

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

Lin, Y & Saripalli, S 2015, Sense and avoid for Unmanned Aerial Vehicles using ADS-B. in Proceedings - IEEE International Conference on Robotics and Automation. June edn, vol. 2015-June, 7140098, Institute of Electrical and Electronics Engineers Inc., pp. 6402-6407, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7140098
Lin Y, Saripalli S. Sense and avoid for Unmanned Aerial Vehicles using ADS-B. In Proceedings - IEEE International Conference on Robotics and Automation. June ed. Vol. 2015-June. Institute of Electrical and Electronics Engineers Inc. 2015. p. 6402-6407. 7140098 https://doi.org/10.1109/ICRA.2015.7140098
Lin, Yucong ; Saripalli, Srikanth. / Sense and avoid for Unmanned Aerial Vehicles using ADS-B. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 6402-6407
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