Automatic Collision Avoidance System: Design, development and flight tests

Luongo, Salvatore; Vito, Vittorio Di; Fasano, Giancarmine; Accardo, Domenico; Forlenza, Lidia; Moccia, Antonio

doi:10.1109/dasc.2011.6096245

Cited by 7 publications

(8 citation statements)

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“…where q re := q * r ⊗q represents the rotation difference between the quadrotor attitude and the recovery quaternion from (30). β ϑ , β Ω > 0 are tuning parameters, and α ϑ , α Ω symbolize the angle error and angular velocity thresholds to consider the vehicle as stabilized in hover mode.…”

Section: B Attitude Reference Switchingmentioning

confidence: 99%

“…Figure 6: Automatic detection values during launching, recovery and landing for motor activation, enabling control parameters, and passing the command to the operator. Figure 7 illustrates the recovery quaternion computed by (30), while the user-defined reference from (31) is depicted in Figure 8. Note the sign of the quaternion changes around t 8s, because of the vehicle rotation over its yaw axis, the definition of q j ensures the shortest rotation is tracked.…”

Section: A First Launching Test: Single Axis Rotationmentioning

confidence: 99%

“…[22] introduced a solution for tracking aggressive trajectories for obstacle avoidance. Agile flight for fixed-wing autonomous aircraft has also been studied, including autonomus navigation in [6] and [20], and collision avoidance as presented in [48] and [30].…”

Section: Introductionmentioning

confidence: 99%

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Quadrotor Aggressive Deployment, Using a Quaternion-Based Spherical Chattering-Free Sliding-Mode Controller

Abaunza

Castillo

2020

IEEE Trans. Aerosp. Electron. Syst.

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This paper introduces a non-conventional approach for autonomous multi-rotor UAV deployment, in which a quadrotor is aggressively launched through the air with its motors turned off. A continuous quaternion attitude trajectory is proposed to safely recover the vehicle into hover mode. Then, an operator then could take the command or continue a desired mission in autonomous mode. The controller is a chattering-free sliding mode algorithm based on the geometrical properties of quaternions and axis-angle rotations. Lyapunov theory is used to analyze the system stability. The proposed methodology is validated in real world indoor and outdoor experiments.

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Section: B Attitude Reference Switchingmentioning

confidence: 99%

Section: A First Launching Test: Single Axis Rotationmentioning

confidence: 99%

See 1 more Smart Citation

Quadrotor Aggressive Deployment, Using a Quaternion-Based Spherical Chattering-Free Sliding-Mode Controller

Abaunza

Castillo

2020

IEEE Trans. Aerosp. Electron. Syst.

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“…FLARE is a modified version of the TECNAM P92 plane and represents a cost-effective platform to test innovative flight technologies. Flight tests successfully demonstrated radar and electro-optical detection capabilities [11], radar-based intruder tracking [12], and autonomous non-cooperative collision avoidance [13], while multisensor based autonomous avoidance tests are currently in progress and will be described in future works.…”

Section: International Journal Of Aerospace Engineeringmentioning

confidence: 99%

“…First, the flight system installed onboard FLARE is briefly recalled. The reader is referred to [10][11][12][13][14] for more details on the flight-tested prototype sensing system, which is not the primary focus of this paper. Laboratory system concepts, hardware/software components, and operating modes are instead thoroughly described in later sections.…”

Section: International Journal Of Aerospace Engineeringmentioning

confidence: 99%

Real-Time Hardware-in-the-Loop Laboratory Testing for Multisensor Sense and Avoid Systems

Fasano

Accardo

Forlenza

et al. 2013

International Journal of Aerospace Engineering

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This paper focuses on a hardware-in-the-loop facility aimed at real-time testing of architectures and algorithms of multisensor sense and avoid systems. It was developed within a research project aimed at flight demonstration of autonomous non-cooperative collision avoidance for Unmanned Aircraft Systems. In this framework, an optionally piloted Very Light Aircraft was used as experimental platform. The flight system is based on multiple-sensor data integration and it includes a Ka-band radar, four electro-optical sensors, and two dedicated processing units. The laboratory test system was developed with the primary aim of prototype validation before multi-sensor tracking and collision avoidance flight tests. System concept, hardware/software components, and operating modes are described in the paper. The facility has been built with a modular approach including both flight hardware and simulated systems and can work on the basis of experimentally tested or synthetically generated scenarios. Indeed, hybrid operating modes are also foreseen which enable performance assessment also in the case of alternative sensing architectures and flight scenarios that are hardly reproducible during flight tests. Real-time multisensor tracking results based on flight data are reported, which demonstrate reliability of the laboratory simulation while also showing the effectiveness of radar/electro-optical fusion in a non-cooperative collision avoidance architecture.

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