Implicit Coordinated Tactical Avoidance for UAVs within a Geofenced Airspace
D.C. van Wijngaarden (TU Delft - Aerospace Engineering)
Joost Ellerbroek – Mentor (TU Delft - Control & Simulation)
B. Remes – Mentor (TU Delft - Control & Simulation)
Jacco Hoekstra – Graduation committee member (TU Delft - Control & Operations)
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Abstract
This research presents the derivation, implementation and safety assessment of a velocity obstacle- based conflict resolution method to be used by UAVs flying within a horizontally restricted airspace by a geofence under the presence of wind. Two parameters indicating the safety of the applied conflict resolution method have been measured, i.e., the Intrusion Prevention Rate (IPR) and the Violation Prevention Rate of the Geofence (VPRG). Three coordination rule-sets have been implemented i.e., 1) geometric optimum (OPT), 2) geometric optimum from target heading (DEST) and 3) only change in heading (HDG). These rule-sets have been assessed during a safety assessment. It was concluded that the OPT rule-set performed best in terms of the IPR and the DEST rule-set performed best in terms of the VPRG under windy and wind calm conditions. The HDG rule-set performed worst in terms of both safety parameters. It was noted that both safety parameters are the lowest when conflicts occur close the geofence under windy conditions for all implemented rule-sets.