Journal
IFAC PAPERSONLINE
Volume 53, Issue 2, Pages 2477-2482Publisher
ELSEVIER
DOI: 10.1016/j.ifacol.2020.12.199
Keywords
Multiple fixed-wing UAVs; conflict detection and resolution; collision avoidance; hierarchical architecture
Categories
Funding
- National Natural Science Foundation of China [61973309]
Ask authors/readers for more resources
This paper studies the collision avoidance problem for autonomous multiple fixed-wing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and the geometric reactive control approach, a three-layered collision avoidance system integrating conflict detection and resolution procedures is developed for multiple fixed-wing UAVs modeled by unicycle kinematics subject to input constraints. The effectiveness of the proposed methodology is evaluated and validated via test results of comparative simulations under both deterministic and probabilistic sensing conditions. Copyright (C) 2020 The Authors.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available