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

被引：0

作者：

Cichella V. ^{[1
]}

Marinho T. ^{[2
]}

Stipanović D. ^{[3
]}

Hovakimyan N. ^{[1
]}

Kaminer I. ^{[1
]}

Trujillo A. ^{[1
]}

机构：

[1] Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, 1308 W Main St, Urbana, 61801, IL

[2] Department of Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey, 93943, CA

[3] Crew Systems and Aviation Operations Branch, NASA Langley Research Center, Hampton, 23666, VA

来源：

Cichella, Venanzio (cichell2@illinois.edu) | 2018年 / Springer Science and Business Media B.V.卷 / 89期

基金：

美国国家航空航天局; 美国国家科学基金会;

关键词：

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

D O I：

10.1007/s10846-017-0517-6

中图分类号：

学科分类号：

摘要：

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. © 2017, Springer Science+Business Media Dordrecht.

引用

页码：139 / 153

页数：14

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