000221469 001__ 221469
000221469 005__ 20190812205927.0
000221469 037__ $$aCONF
000221469 245__ $$a3D Collision Avoidance Algorithm for Unmanned Aerial Vehicles with Limited Field of View Constraints
000221469 269__ $$a2016
000221469 260__ $$c2016
000221469 336__ $$aConference Papers
000221469 520__ $$aUnmanned Aerial Vehicles (UAVs) are becoming a significant field of research with numerous applications, ranging from mapping to surveillance. New applications, such as aerial delivery of goods, are expected to appear in the next years and will require more and more autonomy from UAVs. One challenge preventing UAVs from being fully autonomous is their current limitations in handling potential collisions among multiple vehicles. This paper presents a collision avoidance algorithm for fixed-wing UAVs navigating in a three dimensional space. It satisfies limited field of view constraints that stem from the use of a single camera system as sensing device. The proposed algorithm uses potential fields to both navigate and avoid obstacles. To guarantee collision avoidance, the algorithm is enhanced with a turning behavior that allows for ensuring the safety of the method. Simulations are performed to show the effectiveness of the proposed algorithm.
000221469 700__ $$0246514$$g178296$$aRoelofsen, Steven Adriaan
000221469 700__ $$0241071$$g105782$$aMartinoli, Alcherio
000221469 700__ $$aGillet, Denis$$g105245$$0241784
000221469 7112_ $$dDecember 12-14, 2016$$cLas Vegas, Nevada, USA$$aConference on Decision and Control
000221469 8564_ $$zPreprint$$yPreprint$$uhttps://infoscience.epfl.ch/record/221469/files/CDC2016.pdf$$s563007
000221469 909C0 $$xUS09295$$pREACT$$0252406
000221469 909C0 $$pDISAL$$0252151$$xU11904
000221469 909CO $$qGLOBAL_SET$$pconf$$pSTI$$pENAC$$ooai:infoscience.tind.io:221469
000221469 917Z8 $$x178296
000221469 917Z8 $$x178296
000221469 917Z8 $$x178296
000221469 937__ $$aEPFL-CONF-221469
000221469 973__ $$rREVIEWED$$sACCEPTED$$aEPFL
000221469 980__ $$aCONF