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dc.contributor.authorTony, Lima Agnel
dc.contributor.authorGhose, Debasish
dc.contributor.authorChakravarthy, Animesh
dc.identifier.citationTony, Lima Agnel; Ghose, Debasish; Chakravarthy, Animesh. 2017. Avoidance maps: a new concept in UAV collision avoidance. 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp 1483-1492en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractA new concept of avoidance map is introduced which can effectively execute collision avoidance among UAVs. It is based upon representation of the effect of control effort by pairs of UAVs on achievement of avoidance, thus partitioning the control effort space into avoidance and collision regions. To do this, it is demonstrated that collision avoidance can be carried out by applying constant acceleration control inputs to UAVs. Also, the duration for which a UAV needs to execute avoidance maneuver can be determined by monitoring the location of the origin coordinates of the control effort space on the partitioned region. The idea is developed in an intuitive way and is extended to multiple UAVs. Several examples are given to demonstrate the simplicity and effectiveness of the concept.en_US
dc.description.sponsorshipEPSRC Global Research Fund, UK; and the third author would like to acknowledge support from the National Science Foundation grants IIS-1351677 and CNS-1446557.en_US
dc.relation.ispartofseries2017 International Conference on Unmanned Aircraft Systems (ICUAS);
dc.subjectDynamic environmentsen_US
dc.subjectVelocity obstaclesen_US
dc.subjectCone approachen_US
dc.titleAvoidance maps: a new concept in UAV collision avoidanceen_US
dc.typeConference paperen_US
dc.rights.holder© 2017, IEEEen_US

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  • AE Research Publications
    Research publications authored by the Department of Aerospace Engineering faculty and graduate students.

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