A closed-form solution of horizontal maneuver to collision avoidance system for UAVs
A geometric model for the Unmanned Aerial Vehicles (UAVs) is proposed in which horizontal maneuvers are made only by changing speed while keeping the flight direction constant. The calculating formulae for projected horizontal miss distance (HMD) and reserved time (Tau) to the closest point of approach are derived from the model according to the Galilean principle of relativity. The closed-form solution is presented to predict the separation to be achieved with a horizontal collision avoidance maneuver. The influence of speed change time and autopilot’s response delay on the horizontal miss distance and reserved time are also calculated and analyzed. The simulation results indicate that the algorithm for conflict detection and resolution in the horizontal plane can predict not only the horizontal separation at the closest point of approach, but also the reserved time to get to the closest point of approach.
Unmanned Aerial Vehicles (UAVs) horizontal collision avoidance algorithm speed change time autopilot’s response delay
Liangfu Peng Yunsong Lin
College of Electrical Information Engineering, Southwest University for Nationalities, Chengdu 61004 College of Automation, University of Electronic Science and Technology of China, Chengdu 610054, Chi
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
4416-4421
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）