Implementation of Collision Detection and Avoidance Algorithm for Point Mass Model UAV

K. Manimala¹

Section:Research Paper, Product Type: Isroset-Journal
Vol.6 , Issue.1 , pp.203-208, Feb-2019

CrossRef-DOI:   https://doi.org/10.26438/ijsrmss/v6i1.203208

Online published on Feb 28, 2019

Copyright © K. Manimala . This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
 

View this paper at   Google Scholar | DPI Digital Library

XML View     PDF Download

How to Cite this Paper

160 Views    138 Downloads    64 Downloads

Abstract :
The UAVs have become more and more sophisticated. Militarily these systems are gaining tremendous importance, as they can conduct precision strikes on distant targets without collateral damage. On military missions, UAVs work in dangerous environments, and therefore, it is crucial to always keep their routes away from any type of threat and restricted zone. The original routes that are obtained offline are no more valid in dynamic environments where the position of all the threats is not known earlier. Therefore, the collision avoidance planner must be able to also work online in order to propose a new path during the UAVs mission when a sudden pop-up threat appears. UAV is designed using Matlab simulink and obstacles are simulated as Point with position in three dimensions. The proposed work clearly identified obstacles along the path and generated alternate path for smooth navigation of UAV.

Key-Words / Index Term :
UAV, Point Mass model, collision avoidance, trajectory planning

References :
[1]. J. B. Saunders, B. Call, A. Curtis, and R. W. Beard, “Static and dynamic obstacle avoidance in miniature air vehicles,” presented at the AIAA Infotech@Aerosp. Conf., Arlington,VA, Paper No. AIAA-2005-6950, 2005.
[2]. Xiaohua Wang, Vivek Yadav, and S. N. Balakrishnan, “Cooperative UAV Formation Flying With Obstacle/Collision Avoidance”, IEEE Transactions On Control Systems Technology, Vol. 15, No. 4, July 2007
[3]. Eva Besada-Portas, Luis de la Torre, Jes´us M. de la Cruz, Member, IEEE, and Bonifacio de Andr´es-Toro, “Evolutionary Trajectory Planner for Multiple UAVs in Realistic Scenarios”, IEEE Transactions On Robotics, Vol. 26, No. 4, August 2010
[4]. Liangfu Peng and Yunsong Lin, “Study on the Model for Horizontal Escape Maneuvers in TCAS”, IEEE Transactions on Intelligent Transportation Systems, Vol. 11, No. 2, June 2010
[5]. David Šišlák, Pˇremysl Volf, and Michal Pˇechouˇcek, “Agent-Based Cooperative Decentralized Airplane-Collision Avoidance”, IEEE Transactions on Intelligent Transportation Systems, Vol. 12, No. 1, March 2011
[6]. Per-Johan Nordlund, Fredrik Gustafsson, “Probabilistic Noncooperative Near Mid-Air Collision Avoidance”, IEEE Transactions On Aerospace And Electronic Systems Vol. 47, No. 2 April 2011
[7]. Fethi Belkhouche, “Modeling and Calculating the Collision Risk for Air Vehicles”, IEEE Transactions On Vehicular Technology, Vol. 62, No. 5, June 2013
[8]. Chunbo Luo, Sally I.Mcclean , Gerard Parr, Luke Teasy, Renzo De Nardi, “UAV Position estimation and collision avoidance using the extended Kalman Filter”, IEEE Trasactions on vehicular technology, Volume 62, Issue 6, July 2013.
[9]. Prachya Panyakeow, Mehran Mesbahi, “Deconfliction Algorithms for a Pair of Constant Speed Unmanned Aerial Vehicles”, IEEE Transactions on Aerospace And Electronic Systems Vol. 50, NO. 1 January 2014
[10]. Naifeng Wen, Lingling Zhao, Xiaohong Su, and Peijun Ma, “UAV Online Path Planning Algorithm in a Low Altitude Dangerous Environment”, IEEE/CAA Journal of Automatica Sinica, Vol. 2, No. 2, April 2015.
[11]. Renke Hr.Ruixuan Wei and Qirui Zhan, “UAV Autonomous Collision Avoidance Approach”, Journal for Control, Measurement, Electronics, Computing and Communications, Vol. 58, Issue 2, pp 195-204, 2017
[12]. Pietro Pierpaoli and Amir Rahmani “UAV Collision Avoidance Exploitation for Noncooperative Trajectory Modification”, Aerospace Science and Technology, Vol.73, pp 173-183, 2018.
[13]. P. Herbert Raj, , P. Joseph Charles , M. Merla Agnes Mary, “IoT- New Perspectives and its Security”, International Journal of Computer Sciences and Engineering, Vol.6, Special Issue.11, Dec 2018.