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

Fingerprint

Unmanned aerial vehicles (UAV)
Motion planning
Extrapolation
Trajectories
Aircraft

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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.

Sense and avoid for unmanned aerial vehicles using ADS-B. / Lin, Yucong; Saripalli, Srikanth.

American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations. American Helicopter Society International, 2015. p. 166-174.

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 American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations. American Helicopter Society International, pp. 166-174, 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations, Chandler, United States, 1/20/15.
Lin Y, Saripalli S. 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. American Helicopter Society International. 2015. p. 166-174
Lin, Yucong ; Saripalli, Srikanth. / Sense and avoid for unmanned aerial vehicles using ADS-B. American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations. American Helicopter Society International, 2015. pp. 166-174
@inproceedings{53a7abaa6a5e4d3289b58b73445c8d70,
title = "Sense and avoid for unmanned aerial vehicles using ADS-B",
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.",
author = "Yucong Lin and Srikanth Saripalli",
year = "2015",
language = "English (US)",
isbn = "9781510810129",
pages = "166--174",
booktitle = "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",

}

TY - GEN

T1 - Sense and avoid for unmanned aerial vehicles using ADS-B

AU - Lin, Yucong

AU - Saripalli, Srikanth

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84969931483&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84969931483&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84969931483

SN - 9781510810129

SP - 166

EP - 174

BT - American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations

PB - American Helicopter Society International

ER -