UAV collision avoidance via optimal trajectory generation method

A collision avoidance algorithm is described in the condition that an UAV circumvents designated targets which have their protected region. Considering generalized shape of the protected region, an ellipsoid is adopted to represent the possible geometries. For the collision avoidance algorithm, it is assumed that en route UAVs are linked by real time data bases like ADS-B and pre-determined geographical feature information is available. With the conditions, all UAVs know the environmental information for their ongoing path. The information for the other targets' positions and velocities are used to expect a conflict or collision for one UAV and the UAV maneuvers not to intrude the other targets protected region. The avoidance algorithm is used to generate a reference trajectory between ongoing position and the instant for the targets passed away. The possible trajectories between the points for the start of avoidance and passed by are tracked. For the case of multiple conflict targets, determining the priority in accordance with predicted conflict times for the targets, the avoidance direction is determined to resolve the conflict situation sequentially.