Three-dimensional velocity obstacle method for UAV deconflicting maneuvers

Conference paper (2015)
Department
Control and Simulation (Aerospace Engineering) (TU Delft)
Copyright: © 2015 The Authors
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Published Date

31-12-2015

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Source:

Proceedings of the AIAA Guidance, Navigation, and Control Conference 2015, Kissimmee (USA), 5-9 Jan. 2015; Authors Version

Faculty

Aerospace Engineering

Department

Control and Simulation

Abstract

Autonomous systems are required in order to enable UAVs to conduct self-separation and collision avoidance, especially for flights within the civil airspace system. A method called the Velocity Obstacle Method can provide the necessary situational awareness for UAVs in a dynamic environment, and can help to generate a deconflicting maneuver.This paper focuses on the assessment of the Velocity Obstacle Method application and its ability to resolve various conflict situations in three dimensional space. This assessment results in a redefinition of the criteria of avoidance. A novel technique is introduced to support the avoidance decision, by representing the conflict situation in various avoidance-planes. Several new definitions to support the method are introduced. This method is then implemented in three-dimensional simulations for UAVs in cases of conflict, in which more than one option of resolution is provided.

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