NDLI: Distributed unmanned aircraft collision avoidance using limit cycle

Content Provider	IEEE Xplore Digital Library
Author	Yongwoo Lee Youdan Kim
Copyright Year	2011
Description	Author affiliation: School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Korea (Yongwoo Lee; Youdan Kim)
Abstract	This paper presents a guidance algorithm for the distributed collision avoidance of multiple unmanned aircraft based on a limit cycle generated around the collision threat. Distributed collision avoidance, on which individual aircraft detects a collision threat and solves it without any explicit communication with the other aircrafts, among multiple unmanned aircraft is performed using the geometric and kinematic information of the existing aircrafts in a discoverable range. The algorithm analyzes the given information by deriving properties such as line-of-sight(LOS) vector, the closest point of approach(CPA), then figures out a collision threat if exists. A limit cycle, which plays a role of a guidance vector field and actually guides the aircraft to maintain predescribed safety radius between the threat and the aircraft, is applied to a stationary and moving obstacles to provide consecutive flight path angles. By doing this, the algorithm eventually guides the aircraft to a collision-free route to accomplish the goal of the given missions. All of these procedures should be processed independently in real-time. Several scenarios are considered for numerical simulations, and the simulaton results demonstrate the effectiveness of the collision avoidance performance and behavioral characteristics of the guidance algorithm. Finally, issues including effectiveness and feasibility of the proposed algorithm are addressed.
Starting Page	121
Ending Page	125
File Size	920197
Page Count	5
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Real time systems Unmanned Aircraft Limit-cycles Limit Cycle Vectors Unmanned aerial vehicles Safety Collision Avoidance Collision avoidance Aircraft
Content Type	Text
Resource Type	Article

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