Abstract
This paper focuses on the problem of collision avoidance for Unmanned Aerial Vehicles (UAVs). The dynamics of the UAV are modeled as a Dubins vehicle flying at constant altitude. The angular velocity is used as control input in order to avert a possible collision with a single obstacle, while the speed is left as an extra degree of freedom to achieve some temporal requirements. The proposed control algorithm uses only the line-of-sight angle as feedback: in this sense, the main contribution of this paper is providing a solution to the collision avoidance problem that can be used in situations where it is not possible to measure data such as position and velocity of the obstacle. A theoretical analysis of the result is provided, followed by simulation results that validate the efficacy of the control strategy.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 139-153 |
| Number of pages | 15 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 89 |
| Issue number | 1-2 |
| DOIs | |
| State | Published - Jan 1 2018 |
Keywords
- Autonomy
- Collision Avoidance
- Line-of-sight angle
ASJC Scopus subject areas
- Software
- Mechanical Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Industrial and Manufacturing Engineering