Three-Dimensional Velocity Obstacle Method for Uncoordinated Avoidance Maneuvers of Unmanned Aerial Vehicles
- 1 October 2016
- journal article
- Published by American Institute of Aeronautics and Astronautics (AIAA) in Journal of Guidance, Control, and Dynamics
- Vol. 39 (10), 2312-2323
- https://doi.org/10.2514/1.g001715
Abstract
This paper proposes a novel avoidance method called the three-dimensional velocity obstacle method. The method is designed for unmanned aerial vehicle applications, in particular to autonomously handle uncoordinated multiple encounters in an integrated airspace, by exploiting the limited space in a three-dimensional manner. The method is a three-dimensional extension of the velocity obstacle method that can reactively generate an avoidance maneuver by changing the vehicle velocity vector based on the encounter geometry. Adverse maneuvers of the obstacle are anticipated by introducing the concept of a buffer velocity set, which ensures that the ownship will diverge with sufficient space in case of sudden imminence. A three-dimensional resolution is generated by choosing the right plane for avoidance, in which the unmanned aerial vehicle conducts a pure turning maneuver. Implementation of the three-dimensional velocity obstacle method is tested in several simulations that demonstrate its capability to resolve various three-dimensional conflicts. A validation using Monte Carlo simulations is also conducted in stressful superconflict scenarios, which results in zero collisions occurrences for the entire 25,000 samples.Keywords
This publication has 21 references indexed in Scilit:
- Selective Velocity Obstacle Method for Deconflicting Maneuvers Applied to Unmanned Aerial VehiclesJournal of Guidance, Control, and Dynamics, 2015
- Conflict Detection and Resolution System Architecture for Unmanned Aerial Vehicles in Civil AirspacePublished by American Institute of Aeronautics and Astronautics (AIAA) ,2015
- Generalization of the collision cone approach for motion safety in 3-D environmentsAutonomous Robots, 2011
- Artificial Force Field for Haptic Feedback in UAV TeleoperationIEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, 2009
- On Integrating Unmanned Aircraft Systems into the National Airspace SystemPublished by Springer Science and Business Media LLC ,2009
- Autonomous robot navigation using adaptive potential fieldsMathematical and Computer Modelling, 2004
- Evolutionary algorithm based offline/online path planner for uav navigationIEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 2003
- A probabilistic approach to aircraft conflict detectionIEEE Transactions on Intelligent Transportation Systems, 2000
- Obstacle avoidance in a dynamic environment: a collision cone approachIEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, 1998
- Real-Time Obstacle Avoidance for Manipulators and Mobile RobotsThe International Journal of Robotics Research, 1986