Sense and avoid for unmanned aerial vehicles using ADS-B

Yucong Lin, Srikanth Saripalli

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

Abstract

Sense-and-avoid is an indispensible ability for Unmanned Aerial Vehicles (UAVs) to be integrated into the civil airspace. This paper presents the design and implementation of a real-time path planning algorithm for the UAVs to avoid moving obstacles. Automatic Dependent Surveillance- Broadcast (ADS-B) is used for obstacle detection. The moving obstacles are assumed to be indifferent to the UAV. The UAV needs to fly through pre-assigned waypoint sequence. If a collision with an obstacle is predicted, an avoidance path is generated by a method based on Closed-Loop Rapidly Exploring Random Tree (CL-RRT) [1]. After that, a collision check is performed on the generated path when the states of the UAV and the obstacles are updated. The path will be re-planned if it leads to a collision. Linear extrapolation and reachability set are used to predict the obstacles' motion. The algorithm was validated in Software In the Loop Simulation (SITL). Logged ADS-B aircraft trajectory were used as the moving obstacles.

Original languageEnglish (US)
Title of host publicationAmerican Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
PublisherAmerican Helicopter Society International
Pages166-174
Number of pages9
ISBN (Print)9781510810129
StatePublished - 2015
Event6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations - Chandler, United States
Duration: Jan 20 2015Jan 22 2015

Other

Other6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
CountryUnited States
CityChandler
Period1/20/151/22/15

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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  • Cite this

    Lin, Y., & Saripalli, S. (2015). Sense and avoid for unmanned aerial vehicles using ADS-B. In American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations (pp. 166-174). American Helicopter Society International.