Abstract
This paper focuses on the problem of collision avoidance for Unmanned Aerial Vehicles (UAVs). The dynamics of the UAV are modeled as a Dubins vehicle flying at constant altitude. The angular velocity is used as control input in order to avert a possible collision with a single obstacle, while the speed is left as an extra degree of freedom to achieve some temporal requirements. The proposed control algorithm uses only the line-of-sight angle as feedback: in this sense, the main contribution of this paper is providing a solution to the collision avoidance problem that can be used in situations where it is not possible to measure data such as position and velocity of the obstacle. A theoretical analysis of the result is provided, followed by simulation results that validate the efficacy of the control strategy.
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This work has been supported in part by AFOSR, NASA and NSF.
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Cichella, V., Marinho, T., Stipanović, D. et al. Collision Avoidance Based on Line-of-Sight Angle. J Intell Robot Syst 89, 139–153 (2018). https://doi.org/10.1007/s10846-017-0517-6
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DOI: https://doi.org/10.1007/s10846-017-0517-6