期刊
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
卷 70, 期 1-4, 页码 315-327出版社
SPRINGER
DOI: 10.1007/s10846-012-9754-x
关键词
UAV; Collision avoidance; Switching control; PID control
资金
- Australian Research Council's Linkage Projects funding scheme [LP100100302]
- Smart Skies Project
- Queensland State Government Smart State Funding Scheme
This paper presents a feasible 3D collision avoidance approach for fixed-wing unmanned aerial vehicles (UAVs). The proposed strategy aims to achieve the desired relative bearing in the horizontal plane and relative elevation in the vertical plane so that the host aircraft is able to avoid collision with the intruder aircraft in 3D. The host aircraft will follow a desired trajectory in the collision avoidance course and resume the pre-arranged trajectory after collision is avoided. The approaching stopping condition is determined for the host aircraft to trigger an evasion maneuver to avoid collision in terms of measured heading. A switching controller is designed to achieve the spatial collision avoidance strategy. Simulation results demonstrate that the proposed approach can effectively avoid spatial collision, making it suitable for integration into flight control systems of UAVs.
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