TY - GEN
T1 - UAV collision avoidance based on geometric approach
AU - Park, Jung Woo
AU - Oh, Hyon Dong
AU - Tahk, Min Jea
PY - 2008
Y1 - 2008
N2 - A method of collision avoidance is described by using simple geometric approach. Two UAVs are dealt with and considered as point masses with constant velocity. This paper discusses en route aircraft which are assumed to be linked by real time data bases like ADS-B. With this data base, all UAVs share the information each other. Calculating PCA (Point of Closest Approach), we can evaluate the worst conflict condition between two UAVs. This paper proposes one resolution maneuvering logic, which can be called 'Vector Sharing Resolution'. In case of conflict, using miss distance vector in PCA, we can decide the directions for two UAVs to share the conflict region. With these directions, UAVs are going to maneuver cooperatively. First of all, this paper describes some '2-D' conflict scenarios and then extends to '3-D' conflict scenarios.
AB - A method of collision avoidance is described by using simple geometric approach. Two UAVs are dealt with and considered as point masses with constant velocity. This paper discusses en route aircraft which are assumed to be linked by real time data bases like ADS-B. With this data base, all UAVs share the information each other. Calculating PCA (Point of Closest Approach), we can evaluate the worst conflict condition between two UAVs. This paper proposes one resolution maneuvering logic, which can be called 'Vector Sharing Resolution'. In case of conflict, using miss distance vector in PCA, we can decide the directions for two UAVs to share the conflict region. With these directions, UAVs are going to maneuver cooperatively. First of all, this paper describes some '2-D' conflict scenarios and then extends to '3-D' conflict scenarios.
KW - Cooperative collision avoidance
KW - Point of Closest Approach (PCA)
KW - Sphere protected zone
KW - Vector Sharing Resolution
UR - http://www.scopus.com/inward/record.url?scp=56749132212&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4655013
DO - 10.1109/SICE.2008.4655013
M3 - Conference contribution
AN - SCOPUS:56749132212
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 2122
EP - 2126
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -
