Collision Avoidance Based on Line-of-Sight Angle: Guaranteed Safety Using Limited Information About the Obstacle

Venanzio Cichella, Thiago Marinho, Dušan Stipanović, Naira Hovakimyan, Isaac Kaminer, Anna Trujillo

Research output: Contribution to journalArticle


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 languageEnglish (US)
Pages (from-to)139-153
Number of pages15
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1-2
StatePublished - Jan 1 2018



  • Autonomy
  • Collision Avoidance
  • Line-of-sight angle

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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