Reachable Set Approach to Collision Avoidance for UAVs
This addresses safety for UAVs in applications like agriculture and surveillance, but it appears incremental as it builds on existing reachable set methods.
The paper tackles collision avoidance for UAVs by proposing a reachable set-based algorithm, formulating it as a convex optimization problem to find control constraints, and demonstrates it in a case study with two quadrotors and two fixed-wing aircraft.
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and disaster search and rescue operations. It is essential for the aircraft to have on-board collision avoidance capability to guarantee safety. Instead of the traditional approach of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking suitable control constraint sets for participating aircraft. We have applied the approach on a case study of two quadrotors and two fix-wing aircraft collision avoidance scenario.