Distributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors

This paper proposes a novel approach for collision avoidance between Unmanned Aerial Vehicles (UAVs) with limited range and field of view sensors. The algorithm is designed for unicycle vehicles that need to fly above a specific minimal speed to maintain flight. It uses a navigation function approach when the UAV is clear from conflict and smoothly switches to a collision avoidance maneuver when other UAVs are encountered. We show that the proposed avoidance algorithm can ensure a collision-free path. We also carry out a throughout quantitative analysis of the algorithm singularities and propose heuristic recipes for avoiding deadlock situations. Simulations are performed to show the effectiveness of the algorithm.

Presented at:
American Control Conference, Chicago, IL, USA, July 1-3, 2015

Note: The status of this file is: Anyone

 Record created 2015-03-27, last modified 2020-07-29

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