TY - GEN
T1 - Collision avoidance
T2 - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
AU - Snyder, Steven
AU - Hovakimyan, Naira
N1 - Publisher Copyright:
© 2015, E-flow American Institute of Aeronautics and Astronautics (AIAA). All rights reserved.
PY - 2015
Y1 - 2015
N2 - This paper presents a game theoretic approach to collision avoidance of multirotor un- manned aerial vehicles (UAVs). The approach is intended for use in a cooperative mission system that includes trajectory generation, path-following, and time-coordination. Under the given conditions, a priori bounds are provided for the deviation from the path due to collision avoidance. The trajectory generator can then take this bound into account, along with the path-following and time-coordination bounds, in order to guarantee that cooperative vehicles using these algorithms will maintain some pre-specified separation in space-time. Simulation results demonstrate the approach with UAVs considered as both the cooperative agents and the obstacles.
AB - This paper presents a game theoretic approach to collision avoidance of multirotor un- manned aerial vehicles (UAVs). The approach is intended for use in a cooperative mission system that includes trajectory generation, path-following, and time-coordination. Under the given conditions, a priori bounds are provided for the deviation from the path due to collision avoidance. The trajectory generator can then take this bound into account, along with the path-following and time-coordination bounds, in order to guarantee that cooperative vehicles using these algorithms will maintain some pre-specified separation in space-time. Simulation results demonstrate the approach with UAVs considered as both the cooperative agents and the obstacles.
UR - http://www.scopus.com/inward/record.url?scp=84973512772&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973512772&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84973512772
T3 - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
BT - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
PB - American Institute of Aeronautics and Astronautics Inc.
Y2 - 5 January 2015 through 9 January 2015
ER -