Journal article
Collision Avoidance Based on Line-of-Sight Angle: Guaranteed Safety Using Limited Information About the Obstacle
Journal of intelligent & robotic systems, Vol.89(1), pp.139-153
01/2018
DOI: 10.1007/s10846-017-0517-6
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.
Details
- Title: Subtitle
- Collision Avoidance Based on Line-of-Sight Angle: Guaranteed Safety Using Limited Information About the Obstacle
- Creators
- Venanzio Cichella - Coordinated Science Laboratory University of Illinois at Urbana-Champaign 1308 W Main St Urbana IL 61801 USAThiago Marinho - Department of Mechanical and Aerospace Engineering Naval Postgraduate School Monterey CA 93943 USADušan Stipanović - Crew Systems and Aviation Operations Branch NASA Langley Research Center Hampton VA 23666 USANaira Hovakimyan - Coordinated Science Laboratory University of Illinois at Urbana-Champaign 1308 W Main St Urbana IL 61801 USAIsaac Kaminer - Coordinated Science Laboratory University of Illinois at Urbana-Champaign 1308 W Main St Urbana IL 61801 USAAnna Trujillo - Coordinated Science Laboratory University of Illinois at Urbana-Champaign 1308 W Main St Urbana IL 61801 USA
- Resource Type
- Journal article
- Publication Details
- Journal of intelligent & robotic systems, Vol.89(1), pp.139-153
- Publisher
- Springer Netherlands; Dordrecht
- DOI
- 10.1007/s10846-017-0517-6
- ISSN
- 0921-0296
- eISSN
- 1573-0409
- Grant note
- 1528036 / National Science Foundation (http://dx.doi.org/10.13039/100000001)
- Language
- English
- Date published
- 01/2018
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984064563402771
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