Three-dimensional velocity obstacle method for UAV deconflicting maneuvers

Three-dimensional velocity obstacle method for UAV deconflicting maneuvers

Jenie, Y.I.
Van Kampen, E.J.
De Visser, C.C.
Ellerbroek, J.
Hoekstra, J.M.

Aerospace Engineering

Control and Simulation

2015-12-31

Autonomous systems are required in order to enable UAVs to conduct self-separation and collision avoidance, especially for flights within the civil airspace system. A method called the Velocity Obstacle Method can provide the necessary situational awareness for UAVs in a dynamic environment, and can help to generate a deconflicting maneuver.This paper focuses on the assessment of the Velocity Obstacle Method application and its ability to resolve various conflict situations in three dimensional space. This assessment results in a redefinition of the criteria of avoidance. A novel technique is introduced to support the avoidance decision, by representing the conflict situation in various avoidance-planes. Several new definitions to support the method are introduced. This method is then implemented in three-dimensional simulations for UAVs in cases of conflict, in which more than one option of resolution is provided.

http://resolver.tudelft.nl/uuid:f5f73ecd-45c2-42dc-9d05-6adebf834aa5

AIAA

978-1-62410-339-1

Proceedings of the AIAA Guidance, Navigation, and Control Conference 2015, Kissimmee (USA), 5-9 Jan. 2015; Authors Version

Institutional Repository

conference paper

(c) 2015 The Authors