.png){kind=icon}
返回
Multiple Threats Sense and Avoid Algorithm for Static and Dynamic Obstacles
.png){kind=icon}
PRE
AI
DOI：10.1007/s10846-014-0073-2.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper presents a new computationally efficient S&A algorithm for implementation in real-time applications for UAV. Based on a simplified optimisation approach, the proposed algorithm aims to provide a reliable resolution manoeuvre (horizontal and vertical) for multiple threat scenarios which include both air and ground threats/obstacles. In presence of a conflict risk, the avoidance manoeuvre is defined as step variation in the heading angle or altitude variation of the autopilots command. This step command is optimised in order to keep a minimum distance of separation between the ownship and all threats during the overall manoeuvre. The algorithm computes the separation distance between the UAV and the threats by calculating the future trajectories at each time step of both the ownship and the threat, while always taking into account the ownship performance envelope constraints. The algorithms were validated in simulation, where the ground threats were derived from the ground elevation maps, while for the aerial threats the aircraft communicate their flight data through an ADS-B mode S transponder. The resolution manoeuvre optimisation technique takes about 0.1 second to compute. Hence enabling the algorithm to cope with any rapid changes in the aerial threat trajectory.
Keyword:
Sense & avoid
Autonomous collision avoidance
Optimisation
Unmanned aerial vehicles
Unmanned aerial systems
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
J
IF:
2.8
论文数:
3.9K
被引数:
6.9K
机构
引用论文
World Development Report 2012: Radical redistribution or just tinkering within the template?世界发展报告2012：激进的重新分配，还是仅在模板内的修修补补？.png)
Development
DevelopmentIF0
PREAI
分享收藏
分享收藏Density estimation of Asian bears using photographic capture–recapture sampling based on chest marksUrsus
UrsusIF0
PREAI
分享收藏
查看更多内容