Collision-avoidance is a safety-critical requirement to operate UAVs in non-segregated airspaces. In case of communication problems between a UAV and the corresponding pilot-in-command, a technology is required onboard the UAV to implement a capability to detect and avoid collision- hazards even autonomously. After an introduction to the problem of developing a so-called sense-and-avoid system and its avoid-function, this work presents a solution in terms of algorithms to implement the above capability. To detect and resolve potential mid-air conflicts, a geometric deterministic approach has been utilised: an intruder is modeled trough a moving-ellipsoid and a four-dimensional approach in the time-space domain provides the solution. The approach makes use of kinematics information to detect potential conflicts and to provide actions for conflict resolution, such as speed-changes in intensity and/or direction. The proposed solution also enables the UAV to meet the applicable vertical and horizontal minima of separation and to comply with real-time constraints.

Conflict detection and resolution algorithms for UAVs collision avoidance

MIGLIACCIO, GIOVANNI
Primo
Conceptualization
;
MENGALI, GIOVANNI
Secondo
Methodology
;
GALATOLO, ROBERTO
Ultimo
Writing – Review & Editing
2014-01-01

Abstract

Collision-avoidance is a safety-critical requirement to operate UAVs in non-segregated airspaces. In case of communication problems between a UAV and the corresponding pilot-in-command, a technology is required onboard the UAV to implement a capability to detect and avoid collision- hazards even autonomously. After an introduction to the problem of developing a so-called sense-and-avoid system and its avoid-function, this work presents a solution in terms of algorithms to implement the above capability. To detect and resolve potential mid-air conflicts, a geometric deterministic approach has been utilised: an intruder is modeled trough a moving-ellipsoid and a four-dimensional approach in the time-space domain provides the solution. The approach makes use of kinematics information to detect potential conflicts and to provide actions for conflict resolution, such as speed-changes in intensity and/or direction. The proposed solution also enables the UAV to meet the applicable vertical and horizontal minima of separation and to comply with real-time constraints.
2014
Migliaccio, Giovanni; Mengali, Giovanni; Galatolo, Roberto
File in questo prodotto:
File Dimensione Formato  
[2014] pubblicato.pdf

solo utenti autorizzati

Descrizione: versione finale pubblicata
Tipologia: Versione finale editoriale
Licenza: NON PUBBLICO - Accesso privato/ristretto
Dimensione 824.72 kB
Formato Adobe PDF
824.72 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
[2014] Conflict detection and resolution algorithms for UAVs collision avoidance.pdf

accesso aperto

Descrizione: Versione finale identica in tutto a quella pubblicata fuorché nell’impaginazione editoriale.
Tipologia: Documento in Post-print
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 1.14 MB
Formato Adobe PDF
1.14 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11568/520669
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 8
  • ???jsp.display-item.citation.isi??? 7
social impact