A 3D Collision Avoidance Strategy for UAVs in a Non-Cooperative Environment

Authors:
Xilin Yang;Luis Mejias Alvarez;Troy Bruggemann
Affiliations:
Australian Research Center for Aerospace Automation, Queensland University of Technology, Brisbane, Australia;Australian Research Center for Aerospace Automation, Queensland University of Technology, Brisbane, Australia;Australian Research Center for Aerospace Automation, Queensland University of Technology, Brisbane, Australia
Venue:
Journal of Intelligent and Robotic Systems
Year:
2013

Citing 6
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Abstract

This paper presents a feasible 3D collision avoidance approach for fixed-wing unmanned aerial vehicles (UAVs). The proposed strategy aims to achieve the desired relative bearing in the horizontal plane and relative elevation in the vertical plane so that the host aircraft is able to avoid collision with the intruder aircraft in 3D. The host aircraft will follow a desired trajectory in the collision avoidance course and resume the pre-arranged trajectory after collision is avoided. The approaching stopping condition is determined for the host aircraft to trigger an evasion maneuver to avoid collision in terms of measured heading. A switching controller is designed to achieve the spatial collision avoidance strategy. Simulation results demonstrate that the proposed approach can effectively avoid spatial collision, making it suitable for integration into flight control systems of UAVs.