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Influence of Turning Time and Response Delay on the horizontal collision avoidance for UAVs

Influence of Turning Time and Response Delay on the Horizont...

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3rd International Conference on Intelligent System Design and Engineering Applications (ISDEA)

作者： Peng Liangfu Southwest Univ Nationalities Chengdu 610041 Sichuan Peoples R China

ISBN: (纸本)9780769549231;9781467348935

For the purpose of resolving conflicts among Unmanned Aerial Vehicles (UAVs) that are on a collision course, we propose a geometric model for a horizontal collision avoidance maneuver that based on heading angle change. An algorithm is designed by taking into account the turning time of the aircraft and the autopilot's response delay. A closed-form analytical solution is presented by using the Galilean principle of relativity to predict the separation to be achieved with a horizontal collision avoidance maneuver. The effects of turning time and autopilot's response delay on the horizontal Miss Distance (HMD) and the reserved time (Tau) are calculated and analyzed. The simulation results validate the real time performance of the algorithm, and indicate that the algorithm is suitable for time critical requirements.

关键词： autopilot's response delay horizontal collision avoidance algorithm turning time Unmanned Aerial Vehicle (UAV)

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A closed-form solution of horizontal maneuver to collision avoidance system for UAVs

A closed-form solution of horizontal maneuver to collision a...

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22nd Chinese Control and Decision Conference

作者： Peng, Liangfu Lin, Yunsong SW Univ Nationalities Coll Elect Informat Engn Chengdu 610041 Peoples R China Univ Elect Sci & Technol China Coll Automat Chengdu 610054 Peoples R China

ISBN: (纸本)9781424451821

A geometric model for the Unmanned Aerial Vehicles (UAVs) is proposed in which horizontal maneuvers are made only by changing speed while keeping the flight direction constant. The calculating formulae for projected horizontal miss distance (HMD) and reserved time (Tau) to the closest point of approach are derived from the model according to the Galilean principle of relativity. The closed-form solution is presented to predict the separation to be achieved with a horizontal collision avoidance maneuver. The influence of speed change time and autopilot's response delay on the horizontal miss distance and reserved time are also calculated and analyzed. The simulation results indicate that the algorithm for conflict detection and resolution in the horizontal plane can predict not only the horizontal separation at the closest point of approach, but also the reserved time to get to the closest point of approach.

关键词： Unmanned Aerial Vehicles (UAVs) horizontal collision avoidance algorithm speed change time autopilot's response delay

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A closed-form solution of horizontal maneuver to collision avoidance system for UAVs

A closed-form solution of horizontal maneuver to collision a...

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The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

作者： Liangfu Peng Yunsong Lin College of Electrical Information Engineering Southwest University for Nationalities Chengdu 61004 College of Automation University of Electronic Science and Technology of China Chengdu 610054 Chi

A geometric model for the Unmanned Aerial Vehicles (UAVs) is proposed in which horizontal maneuvers are made only by changing speed while keeping the flight direction constant. The calculating formulae for projected horizontal miss distance (HMD) and reserved time (Tau) to the closest point of approach are derived from the model according to the Galilean principle of relativity. The closed-form solution is presented to predict the separation to be achieved with a horizontal collision avoidance maneuver. The influence of speed change time and autopilot’s response delay on the horizontal miss distance and reserved time are also calculated and analyzed. The simulation results indicate that the algorithm for conflict detection and resolution in the horizontal plane can predict not only the horizontal separation at the closest point of approach, but also the reserved time to get to the closest point of approach.

关键词： Unmanned Aerial Vehicles (UAVs) horizontal collision avoidance algorithm speed change time autopilot’s response delay

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A closed-form solution of horizontal maneuver to collision avoidance system for UAVs

A closed-form solution of horizontal maneuver to collision a...

引用

2010 Chinese Control and Decision Conference

作者： Liangfu Peng~1,Yunsong Lin~2 1.College of Electrical Information Engineering,Southwest University for Nationalities,Chengdu 610041,China 2.College of Automation,University of Electronic Science and Technology of China,Chengdu 610054,China

A geometric model for the Unmanned Aerial Vehicles(UAVs) is proposed in which horizontal maneuvers are made only by changing speed while keeping the flight direction *** calculating formulae for projected horizontal miss distance(HMD) and reserved time(Tau) to the closest point of approach are derived from the model according to the Galilean principle of *** closed-form solution is presented to predict the separation to be achieved with a horizontal collision avoidance *** influence of speed change time and autopilot's response delay on the horizontal miss distance and reserved time are also calculated and *** simulation results indicate that the algorithm for conflict detection and resolution in the horizontal plane can predict not only the horizontal separation at the closest point of approach,but also the reserved time to get to the closest point of approach.

关键词： Unmanned Aerial Vehicles(UAVs) horizontal collision avoidance algorithm speed change time autopilot's response delay

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