NDLI: Sense and collision avoidance of Unmanned Aerial Vehicles using Markov Decision Process and flatness approach

Content Provider	IEEE Xplore Digital Library
Author	Yu Fu Xiang Yu Youmin Zhang
Copyright Year	2015
Description	Author affiliation: Dept. of Inf. & Control Eng., Xi'an Univ. of Technol., Xi'an, China (Youmin Zhang) \|\| Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC, Canada (Yu Fu; Xiang Yu)
Abstract	This paper presents a new development of collision avoidance algorithm that ensures an Unmanned Aerial Vehicle (UAV) can avoid multiple intruders autonomously. Firstly, the Markov Decision Process (MDP) based approach generates the multiple threats resolution logic for the collision avoidance system. Secondly, the optimal trajectory is smoothed by the differential flatness technique where the constraints of the UAV dynamics are considered. In such a way, the planned trajectory is feasible for the UAV. The effectiveness of the developed scheme is illustrated by the numerical simulation studies.
Starting Page	714
Ending Page	719
File Size	434046
Page Count	6
File Format	PDF
e-ISBN	9781467391047
DOI	10.1109/ICInfA.2015.7279378
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Heuristic algorithms Markov processes MDP differential flatness Aircraft navigation optimal trajectory Trajectory UAV Mathematical model Collision avoidance Aircraft
Content Type	Text
Resource Type	Article

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Sense and collision avoidance of Unmanned Aerial Vehicles using Markov Decision Process and flatness approach