Sampling based collision avoidance for UAVs

Yucong Lin; Srikanth Saripalli

doi:10.1109/ACC.2016.7525106

Sampling based collision avoidance for UAVs

Yucong Lin, Srikanth Saripalli

Earth and Space Exploration, School of (SESE)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Scopus citations

Abstract

We present the design and implementation of a path planning algorithm for Unmanned Aerial Vehicles (UAVs) to avoid collisions with other aircraft. The aircraft are indifferent to the UAV. A sampling based method is developed to generate the avoidance path. The UAV's closed-loop system is used to simulate the trajectory in collision check used in path planning. The generated path is then checked against updated states of the UAV and obstacle aircraft, and a new path will be planned if the original one leads to a collision. The algorithm is validated in Hardware-In-the-Loop simulation (HIL) and real flight experiments. The paper shows that the algorithm is able to generate paths for the UAV to avoid obstacles of different numbers, approaching angles, and speeds.

Original language	English (US)
Title of host publication	2016 American Control Conference, ACC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1353-1358
Number of pages	6
Volume	2016-July
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7525106
State	Published - Jul 28 2016
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: Jul 6 2016 → Jul 8 2016

Other

Other	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	7/6/16 → 7/8/16

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/ACC.2016.7525106

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title = "Sampling based collision avoidance for UAVs",

abstract = "We present the design and implementation of a path planning algorithm for Unmanned Aerial Vehicles (UAVs) to avoid collisions with other aircraft. The aircraft are indifferent to the UAV. A sampling based method is developed to generate the avoidance path. The UAV's closed-loop system is used to simulate the trajectory in collision check used in path planning. The generated path is then checked against updated states of the UAV and obstacle aircraft, and a new path will be planned if the original one leads to a collision. The algorithm is validated in Hardware-In-the-Loop simulation (HIL) and real flight experiments. The paper shows that the algorithm is able to generate paths for the UAV to avoid obstacles of different numbers, approaching angles, and speeds.",

author = "Yucong Lin and Srikanth Saripalli",

year = "2016",

month = jul,

day = "28",

doi = "10.1109/ACC.2016.7525106",

language = "English (US)",

volume = "2016-July",

pages = "1353--1358",

booktitle = "2016 American Control Conference, ACC 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

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AU - Lin, Yucong

AU - Saripalli, Srikanth

PY - 2016/7/28

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N2 - We present the design and implementation of a path planning algorithm for Unmanned Aerial Vehicles (UAVs) to avoid collisions with other aircraft. The aircraft are indifferent to the UAV. A sampling based method is developed to generate the avoidance path. The UAV's closed-loop system is used to simulate the trajectory in collision check used in path planning. The generated path is then checked against updated states of the UAV and obstacle aircraft, and a new path will be planned if the original one leads to a collision. The algorithm is validated in Hardware-In-the-Loop simulation (HIL) and real flight experiments. The paper shows that the algorithm is able to generate paths for the UAV to avoid obstacles of different numbers, approaching angles, and speeds.

AB - We present the design and implementation of a path planning algorithm for Unmanned Aerial Vehicles (UAVs) to avoid collisions with other aircraft. The aircraft are indifferent to the UAV. A sampling based method is developed to generate the avoidance path. The UAV's closed-loop system is used to simulate the trajectory in collision check used in path planning. The generated path is then checked against updated states of the UAV and obstacle aircraft, and a new path will be planned if the original one leads to a collision. The algorithm is validated in Hardware-In-the-Loop simulation (HIL) and real flight experiments. The paper shows that the algorithm is able to generate paths for the UAV to avoid obstacles of different numbers, approaching angles, and speeds.

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M3 - Conference contribution

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BT - 2016 American Control Conference, ACC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 American Control Conference, ACC 2016

Y2 - 6 July 2016 through 8 July 2016

ER -

Sampling based collision avoidance for UAVs

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