Collision Avoidance for Unmanned Aerial Vehicles in the Presence of Static and Moving Obstacles
This addresses safety and navigation challenges for UAV operators in dynamic environments, representing an incremental improvement in guidance methods.
The paper tackles collision avoidance for unmanned aerial vehicles by introducing a new procedure based on local parametrized guidance vector fields, which enables smooth maneuvers around obstacles, and demonstrates efficacy in simulations across three practical scenarios with static and moving threats.
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called collision avoidance vector fields, that produce smooth and intuitive maneuvers around obstacles. The maneuvers follow nominal collision-free paths which we refer to as streamlines of the collision avoidance vector fields. In the case of multiple obstacles, the proposed procedure determines a mixed vector field that blends the collision avoidance vector field of each obstacle and assumes its form whenever a pre-defined distance threshold is reached. Then, in accordance to the computed guidance vector fields, different collision avoidance controllers that generate collision-free maneuvers are developed. Furthermore, it is shown that any tracking controller with convergence guarantees can be used with the avoidance controllers to track the streamlines of the collision avoidance vector fields. Finally, numerical simulations demonstrate the efficacy of the proposed approach and its ability to avoid collisions with static and moving pop-up threats in three different practical scenarios.