Autonomous collision avoidance system for UAVs

Towards integration in the National Airspace System

PhD Candidate : Yazdi Ibrahim JenieDepartment: C&OSection: Control and SimulationSupervisor: E. van KampenPromoter: J. M. HoekstraStart date : 06-06-2011Funding: IDB Merit for High TechnologyCooperations: -Type: Scientific

DIFFERENT TYPES ofUAVs that may have a similarmission and require cooperationbetween them

case

1

MANNED-FLIGHTS are the principalusers of the National Airspace System,and hence have the ultimate priorityover any UAVs

case

2

case

3DYNAMIC CHANGES in the pathof the UAV have a high possibility of occurrence due to the lack of flight situational awareness

NASin ?

With its rapid technology advancement, UAVs are getting their civilian-commercial values recognized. Researchers are currently trying to convince regulators that UAV operations in the National Airspace System (NAS) are safe. The challenge now is to develop regulations, methods,and on-board systems to ensure the safety,especially to avoid every possible collision.

SENSING SURROUNDING

LATEST RESULTS

Once their operation is allowed, UAVs with variousmissions and types will ‘blacken the sky’. Managing the complex traffics using a common control stationwill be impractical. Researchers are looking at the FREE-FLIGHT concept that allows free routing and optimization of each vehicle separately.

FREE FLIGHT

mediareporting

environmentsensing

environmentsensing

TailBoom

FlyingWIng

RotaryWing

RotaryWing

Fixed Wing

quadrotorflappingwing

LADF

borderpatrol

tactical lawenforcement

cropssurveillance

HighAltitudeImagery

HighAltitudeImagery

stratospherictelecomunications

HOSTILE OBJECTS that tryto take the UAV down, may bein the form of other UAVs, or just a rock thrown by some kids

case

5

ANY CONFLICTS between UAVs with different types, missions, and operators

case

4

ROGUE OBSTACLES likeflocks of birds, balloons, kites, or even UAVs withoutmeans for collision avoidance

case

6

STATIC AND LAND OBSTACLES including people need to be safefrom UAVs, even in the case of failure in their operation

case

7

AUTONOMOUS AVOIDANCEThe lack of situational awareness of the UAV operatormakes an Autonomous Collision Avoidance System a requirement. The use of the Velocity Obstacle method can give the system necessary awareness, which includes detecting conflicts and mapping all possible avoidance maneuvers.

A few examples on ways for UAVs to collect data of the surroundings, including obstacles and the traffic ahead, are using (1) dependent-surveillance, (2) predefined data, (3) sound pressure, (4) ultrasonic, (5) camera (6) laser range finder, and (7) radar

UAVs Avoidance Architecture

VELOCITY OBSTACLE setA will collide with Bif V lies hereA

A diverges completely

from B’s flight path if V lies A

here

A will pass in front of B

if V lies hereA

speed changingavoidance

turningavoidance A will pass behind Bif V lies hereA

ProtectedZone

UAV BUAV A

VB

VBVA

UAV

Cooperative AutonomousCollision Avoidance System

for Unmanned Aerial Vehicles

An Autonomous Collision Avoidance Strategy for

Unmanned Aerial VehicleGuidance

Selective Velocity ObstacleMethod for Cooperative Autonomous Collision

Avoidance System for UAVs

Velocity Obstacle Method forNon-cooperative AutonomousCollision Avoidance System

for UAVsJenie, Y.I., van Kampen, E., Remes, B.Jenie, Y.I., van Kampen, E., Jenie, Y.I., van Kampen, E., de Visser, C., Chu, Q. Jenie, Y.I., van Kampen, E., de Visser, C., Chu, Q.Advances in Aerospace Guidance, Navigation

and Control,Springer Berlin Heidelberg, 2013, pp. 387-405.

5th European Conference for Aeronautics and Space Sciences (EUCASS), Munich, 2013

AIAA Guidance, Navigation, and Control (GNC) Conference, Boston, 2013

AIAA Guidance, Navigation, and Control (GNC) Conference, New Harbor, 2014

Selective Velocity ObstacleMethod for Deconflicting

Maneuvers applied to UAVs

Jenie, Y.I., van Kampen, E., de Visser, Ellerbroek, J., Hoekstra, J.

AIAA Journal of Guidance, Control, and Dynamics, 2014, (submitted)

Original Flight Path

Deconflict

FlightCourse Change

Escape

40 sec

25 sec

1.5 sec

RelativeVelocity

1.1 span

(1)

(2)

(3)

(4)

(5)

(6)

(7)

Aero

space

Engin

eering

Simulation of various conflicts and encounters

Recommended Turning Rate

for avoidance (w )ar

DIVoi

davo

Vi

Vi

Vo

Xw

Yw

Xi

VO

0153045

-0.6

-0.4

0

-0.2 ωa.r

*

ωa

.r

initial conditions

davo

SVO-methodincorporating rules