Towards integration in the National Airspace System UAV NA
Transcript of Towards integration in the National Airspace System UAV NA
Autonomous collision avoidance system for UAVs
Towards integration in the National Airspace System
PhD Candidate : Yazdi Ibrahim JenieDepartment: C&OSection: Control and SimulationSupervisor: E. van KampenPromoter: J. M. HoekstraStart date : 06-06-2011Funding: IDB Merit for High TechnologyCooperations: -Type: Scientific
DIFFERENT TYPES ofUAVs that may have a similarmission and require cooperationbetween them
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MANNED-FLIGHTS are the principalusers of the National Airspace System,and hence have the ultimate priorityover any UAVs
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3DYNAMIC CHANGES in the pathof the UAV have a high possibility of occurrence due to the lack of flight situational awareness
NASin ?
With its rapid technology advancement, UAVs are getting their civilian-commercial values recognized. Researchers are currently trying to convince regulators that UAV operations in the National Airspace System (NAS) are safe. The challenge now is to develop regulations, methods,and on-board systems to ensure the safety,especially to avoid every possible collision.
SENSING SURROUNDING
LATEST RESULTS
Once their operation is allowed, UAVs with variousmissions and types will ‘blacken the sky’. Managing the complex traffics using a common control stationwill be impractical. Researchers are looking at the FREE-FLIGHT concept that allows free routing and optimization of each vehicle separately.
FREE FLIGHT
mediareporting
environmentsensing
environmentsensing
TailBoom
FlyingWIng
RotaryWing
RotaryWing
Fixed Wing
quadrotorflappingwing
LADF
borderpatrol
tactical lawenforcement
cropssurveillance
HighAltitudeImagery
HighAltitudeImagery
stratospherictelecomunications
HOSTILE OBJECTS that tryto take the UAV down, may bein the form of other UAVs, or just a rock thrown by some kids
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ANY CONFLICTS between UAVs with different types, missions, and operators
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ROGUE OBSTACLES likeflocks of birds, balloons, kites, or even UAVs withoutmeans for collision avoidance
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STATIC AND LAND OBSTACLES including people need to be safefrom UAVs, even in the case of failure in their operation
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AUTONOMOUS AVOIDANCEThe lack of situational awareness of the UAV operatormakes an Autonomous Collision Avoidance System a requirement. The use of the Velocity Obstacle method can give the system necessary awareness, which includes detecting conflicts and mapping all possible avoidance maneuvers.
A few examples on ways for UAVs to collect data of the surroundings, including obstacles and the traffic ahead, are using (1) dependent-surveillance, (2) predefined data, (3) sound pressure, (4) ultrasonic, (5) camera (6) laser range finder, and (7) radar
UAVs Avoidance Architecture
VELOCITY OBSTACLE setA will collide with Bif V lies hereA
A diverges completely
from B’s flight path if V lies A
here
A will pass in front of B
if V lies hereA
speed changingavoidance
turningavoidance A will pass behind Bif V lies hereA
ProtectedZone
UAV BUAV A
VB
VBVA
UAV
Cooperative AutonomousCollision Avoidance System
for Unmanned Aerial Vehicles
An Autonomous Collision Avoidance Strategy for
Unmanned Aerial VehicleGuidance
Selective Velocity ObstacleMethod for Cooperative Autonomous Collision
Avoidance System for UAVs
Velocity Obstacle Method forNon-cooperative AutonomousCollision Avoidance System
for UAVsJenie, Y.I., van Kampen, E., Remes, B.Jenie, Y.I., van Kampen, E., Jenie, Y.I., van Kampen, E., de Visser, C., Chu, Q. Jenie, Y.I., van Kampen, E., de Visser, C., Chu, Q.Advances in Aerospace Guidance, Navigation
and Control,Springer Berlin Heidelberg, 2013, pp. 387-405.
5th European Conference for Aeronautics and Space Sciences (EUCASS), Munich, 2013
AIAA Guidance, Navigation, and Control (GNC) Conference, Boston, 2013
AIAA Guidance, Navigation, and Control (GNC) Conference, New Harbor, 2014
Selective Velocity ObstacleMethod for Deconflicting
Maneuvers applied to UAVs
Jenie, Y.I., van Kampen, E., de Visser, Ellerbroek, J., Hoekstra, J.
AIAA Journal of Guidance, Control, and Dynamics, 2014, (submitted)
Original Flight Path
Deconflict
FlightCourse Change
Escape
40 sec
25 sec
1.5 sec
RelativeVelocity
1.1 span
(1)
(2)
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(4)
(5)
(6)
(7)
Aero
space
Engin
eering
Simulation of various conflicts and encounters
Recommended Turning Rate
for avoidance (w )ar
DIVoi
davo
Vi
Vi
Vo
Xw
Yw
Xi
VO
0153045
-0.6
-0.4
0
-0.2 ωa.r
*
ωa
.r
initial conditions
davo
SVO-methodincorporating rules