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 language | English (US) |
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Title of host publication | American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations |
Publisher | American Helicopter Society International |
Pages | 166-174 |
Number of pages | 9 |
ISBN (Print) | 9781510810129 |
State | Published - 2015 |
Event | 6th 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 2015 → Jan 22 2015 |
Other
Other | 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations |
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Country/Territory | United States |
City | Chandler |
Period | 1/20/15 → 1/22/15 |
ASJC Scopus subject areas
- Aerospace Engineering
- Control and Systems Engineering