Proportional navigation-based collision avoidance for UAVs

Abstract

A collision avoidance algorithm for unmanned aerial vehicles (UAVs) based on the conventional proportional navigation (PN) guidance law is investigated. The proportional navigation guidance law being applied to a wide range of missile guidance problems is tailored to the collision avoidance of UAVs. This can be accomplished by guiding the relative velocity vector of the aircraft to a vector connecting the current aircraft position to the safety boundary of the target aircraft. Stability of the proposed algorithm is also studied using the circle criterion. The stability condition can be established by choosing the navigation coefficient within a certain bound. The guidance law is extended to 3-dimensional maneuver problems. Inherent simplicity and robustness of the PN guidance law provides satisfactory collision avoidance performance with different initial conditions.

Study on Dynamic Guidance Obstacle Avoidance for UAV

“…If so, the UAV need take measures to avoid the obstacles, the judging method can refer the paper [8]. If both meet, there will be a collision between the UAV and an obstacle after a period of time, the schematic of collision between the UAV and the obstacle in three-dimensional space is shown as Figure 4.…”

“…From paper [8],we can know that to guarantee the relative speed is converged to collision avoidance vector, the proportional navigation coefficient must From (23) we know that, the larger the proportional navigation coefficient N , the shorter the collision avoidance completing time. In the meanwhile, the larger the normal acceleration of relative speed.…”

“…For example, in [8] considering the velocity of the moving obstacles, the authors built the collision cone, and on this basis, by transferring the velocity of the robot to the outside of the cone, the robot can avoid the moving obstacle successfully. But the velocity of the obstacle is required be linear.…”

A Reactive Collision Avoidance Algorithm for Multiple Midair Unmanned Aerial Vehicles

“…To deal with this problem, several collision avoidance algorithms have been proposed. [5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21] Collision avoidance has been widely studied in the field of robotics, and various methods have been developed for the collision avoidance of industrial robots as well as mobile robots. 5) Occasionally, the collision avoidance algorithm of a robot is combined with a path planning algorithm for a known or partially known environment to find a collision-free path.…”

“…13,14) The geometric approaches are developed based on the constant-velocity assumption, and the performance can be regulated using a spherical boundary. However, most of geometric collision avoidance [15][16][17][18][19] has been developed to avoid single aircraft. Collision avoidance for multiple aircraft has also been studied by several researchers, 19,20) but only two-dimensional collision avoidance or communication-based collision avoidance is considered.…”