Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance,...
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![Page 1: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/1.jpg)
Multiple UAV Collision Avoidance with Realistic UAV Models
Joel George and Debasish GhoseGuidance, Control, and Decision Systems Laboratory
(GCDSL)Department of Aerospace Engineering,Indian Institute of Science, Bangalore
India 560012.
![Page 2: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/2.jpg)
Problem Description
Multiple UAVs fly to their destinations in a ‘free flight’ zone
Need to detect and avoid mid-air collisions
Each UAV has a safety zone UAVs have limited sensor ranges
![Page 3: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/3.jpg)
Objective
Obtain high efficiency with lower number of near misses
Efficiency =
Near Miss
Devi
Idea
ated
l path l
path le
ength
ngth
A breach into each other’s safety zones
![Page 4: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/4.jpg)
Assumptions
Positions and velocities of other UAVs within the sensor range are known
6 Degree of Freedom UAV model
![Page 5: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/5.jpg)
Solution approach
Multiple UAV collision avoidance by handling pair wise conflict
When a UAV encounters multiple conflicts, it does a maneuver to avoid a near miss with the ‘most threatful’ neighbor. Every UAV doing so, in a multiple UAV conflict scenario, will result in a high efficiency with lower number of near misses.
The Thesis
![Page 6: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/6.jpg)
Solution approach (continued)
Most threatful neighbor (of a UAV U): A UAV in the sensor range of U with which U has a projected near miss and the least time-to-go for that near miss to occur.
Collision avoidance maneuver: Turn in a direction that will increase the Line-of-Sight (LOS) rate between the UAVs.
Deciding the ‘most threatful’ neighbor and the desired collision avoidance maneuver
![Page 7: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/7.jpg)
Pair wise collision avoidance maneuver
In this example, where ,
the UAVs U1 and U2 turning in the directions of lateral accelerations a1 and a2 (green arrows) will result in an increase of LOS rate between them.
2 1
![Page 8: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/8.jpg)
Realistic UAV Model
UAV of span 1.4224 m, weighing 1.56 kg Stability and control derivatives from Aviones
A UAV flight simulator developed by the Brigham Young University
(an open source software)
Available: http://aviones.sourceforge.net/
![Page 9: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/9.jpg)
Controller design
Controllers designed through successive loop closure
Separate controllers for holding altitude, attitude, and velocity
PI controllers with parameters tuned manually
![Page 10: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/10.jpg)
Controller design
Altitude hold controller
Similar controllers for attitude and velocity holds are designed
![Page 11: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/11.jpg)
Controller response
Response of UAV model (with controller) to a 3-2-1-1 bank angle command
The plots of system state response: bank angle ( ), height (h), and velocity (V), and the control demands: aileron deflection ( ), elevator deflection ( ), and throttle ( ). Demanded bank angle is shown in dotted lines.
e Ta
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Test of collision avoidance
A example of collision avoidance of 5 UAVs. The test case is tailored such that the avoidance of one conflict will lead into another
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Random flights test case
UAVs appear at random points in outer circle (radius 500 m) and fly to randomly assigned points in inner circle (radius 400 m) with a velocity of 12 m/s and a maximum turn rate capability of 10 deg/sec.
The scenario is simulated for 1 hour and at any instant during the simulation, the number of UAVs in the airspace is kept constant by replacing the UAVs that reached target points by new ones. Any approach of two UAVs within 10 m is considered a near miss. An approach within 2 m is a collision.
• Test case of random flights for dense traffic
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Results
No. of UAVswithout collision avoidance with collision avoidance
Near Misses Efficiency Near Misses Efficiency
204060
218.1899.1
2027.9
100100100
0.11.61.4
96.1589.1789.11
Results of the random flight test case
![Page 15: Multiple UAV Collision Avoidance with Realistic UAV Models Joel George and Debasish Ghose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department.](https://reader036.fdocuments.us/reader036/viewer/2022062314/56649e9c5503460f94b9cff5/html5/thumbnails/15.jpg)
Summary
Gave a collision avoidance algorithm, for multiple UAV scenarios, that gives a good performance – low near misses and high efficiency
Designed PI controllers for a realistic UAV model using successive loop closure
Tested the collision avoidance algorithm on this realistic UAV model augmented with the designed controller
Results showed a good performance of the algorithm