Implementation of collision avoidance system using TCAS II to UAVs

Lee, Hyeon-Cheol

doi:10.1109/maes.2006.1684262

Cited by 20 publications

(2 citation statements)

References 6 publications

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“…The perception and avoidance method mainly focuses on reducing the required computing power and short response time. However, it requires high-precision sensors and has a high cost [17,18]. Among them, the force field method is also called the artificial potential field (APF) method.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance Control of Unmanned Aerial Vehicle with Motor Loss-of-Effectiveness Fault Based on Improved Artificial Potential Field

Zhao

Hao

2023

Sustainability

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This paper presents an obstacle avoidance control strategy for an underactuated quadrotor unmanned aerial vehicle with motor loss-of-effectiveness fault and disturbance. The control system is divided into two parts: the obstacle avoidance loop and the tracking loop. By introducing the height factor in the artificial potential field function, an improved obstacle avoidance strategy is designed in the obstacle avoidance loop. Compared with the existing literature, the proposed obstacle avoidance strategy can avoid falling into the trap of the local optimum when a UAV encounters obstacles. At the same time, considering the sudden motor loss-of-effectiveness fault of UAV, adaptive technology is used to estimate the fault parameters online to restrain the effects of motor loss-of-effectiveness fault in the tracking loop. The stability of the closed-loop UAV system is guaranteed by stabilizing each of the subsystems through backstepping technology. Simulations are conducted to demonstrate the effectiveness of the designed obstacle avoidance control strategy.

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Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance Control of Unmanned Aerial Vehicle with Motor Loss-of-Effectiveness Fault Based on Improved Artificial Potential Field

Zhao

Hao

2023

Sustainability

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“…W takich przypadkach, w szczególności dla dużych BSP, stosuje się systemem ostrzegania TCAS (ang. Traffic Alert and Collision Aviodance System), stosowany na samolotach pasażerskich [7]. Dla mniejszych obiektów projektuje się systemy antykolizyjne wzorowane na tym systemie oraz współpracujące z nim [2].…”

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Obstacles detection on the UAVs indoor flight path

Brzozowski¹

2014

PAR

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Zezwala się na korzystanie z artykułu na warunkach licencji Creative Commons Uznanie autorstwa 3.0 Streszczenie: Na potrzeby autonomicznego wykonywania lotów bezpilotowych statków powietrznych opracowano system antykolizyjny. Składa się on z zaprojektowanego i wykonanego w Zakładzie Awioniki i Uzbrojenia Lotniczego Wojskowej Akademii Technicznej trójwymiarowego laserowego skanera przestrzeni oraz aplikacji zaimplementowanej w komputerze pokładowym BSP. W artykule omówiono budowę i zasadę działania opracowanego czujnika oraz szczegółowo opisano etapy wykrywania przeszkód realizowane przez aplikację. Na zakończenie przedstawiono wady i zalety przyjętego rozwiązania, a także dalsze kierunki rozwoju systemu. Słowa kluczowe: system antykolizyjny, bezpilotowe statki powietrzne, laserowy skaner przestrzeni

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Wireless Positioning Systems: Operation, Application, and Comparison

Zekavat

Kansal

Levesque

2011

Handbook of Position Location

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Recent years have seen rapidly increasing demand for services and systems that depend upon accurate positioning of people and objects. This has led to the development and evolution of numerous positioning systems. This chapter provides an overview of the main positioning techniques: time-of-arrival (TOA), direction-of-arrival (DOA) and received signal strength indicator (RSSI). It then introduces positioning systems that are either in use or being developed ßfor a variety of applications. Operations of these positioning systems are summarized using flowcharts and figures. In addition, the chapter compares positioning systems on the basis of system characteristics and performance parameters. Many of these positioning techniques and systems are introduced in greater details throughout different parts of this handbook. The chapter concludes by reviewing a number of emerging positioning systems and outlining some future applications. Received Signal Strength Indication (RSSI):Similar to the TOA, in RSSI, multiple base nodes collaborate to localize a target node via triangulation (see Figure 2 (a)). However, instead of measuring TOA at base nodes, the estimation is carried out using the received signal strength [3]. In this method, the strength of the received signal indicates the distance travelled by the signal. Assuming that the transmission strength and channel (or environment in which the signal is traveling) characteristics are known, for a co-planar case, three base nodes and three RSS measurements are required. Part III of this handbook studies RSS-based methods in detail.

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Implementation of collision avoidance system using TCAS II to UAVs

Cited by 20 publications

References 6 publications

Obstacle Avoidance Control of Unmanned Aerial Vehicle with Motor Loss-of-Effectiveness Fault Based on Improved Artificial Potential Field

Obstacle Avoidance Control of Unmanned Aerial Vehicle with Motor Loss-of-Effectiveness Fault Based on Improved Artificial Potential Field

Obstacles detection on the UAVs indoor flight path

Wireless Positioning Systems: Operation, Application, and Comparison

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