Modeling and analysis of dynamic collision region for UAV avoiding aerial intruders
LIU Chang1, WANG Honglun1,2, YAO Peng1, LEI Yupeng1
1. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
Abstract：In view of the existing methods to calculate collision region using certain threshold value of distance or time, an unmanned aerial vehicle (UAV) dynamic collision region model based on maneuver information of both UAV and aerial intruder was presented. Firstly, the no-maneuver collision region was proposed. In this region, UAV and intruder would undergo collision if UAV didn't execute any avoidance maneuver. Using a geometric method, a mathematical model of no-maneuver collision region was formulated utilizing the motion states of UAV and intruder, and minimum safety distance, etc. Secondly, the constraints on the UAV maneuverability were added to calculate the maximum maneuverability collision region, which was the border for UAV to avoid the collision by maximum maneuverability flight. Thirdly, the concept of non-escape region was proposed. Then the safe flight envelope was presented. This safe flight envelope was a boundary line of avoiding a collision with aerial intruder for UAV. Finally, the key factors of the proposed regions were analyzed by theoretical derivation combined with simulation. The results show that the presented collision regions are useful for UAV to select and evaluate the avoidance maneuver, and to decide whether to execute maximum maneuverability flight. The presented collision regions provide a practical guideline for UAV to ensure safe collision avoidance.
刘畅, 王宏伦, 姚鹏, 雷玉鹏. 面向空中威胁的无人机动态碰撞区建模与分析[J]. 北京航空航天大学学报, 2015, 41(7): 1231-1238.
LIU Chang, WANG Honglun, YAO Peng, LEI Yupeng. Modeling and analysis of dynamic collision region for UAV avoiding aerial intruders. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2015, 41(7): 1231-1238.
蔡志浩, 杨丽曼, 王英勋, 等.无人机全空域飞行影响因素分析[J].北京航空航天大学学报, 2011, 37(2): 175-179. Cai Z H, Yang L M, Wang Y X, et al.Analysis for whole airspace flight key factors of unmanned aerial vehicles[J].Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(2): 175-179(in Chinese).
[2]
Thomas W, Ned A S.Development and operation of the traffic alert and collision avoidance system(TCAS)[J].Proceedings of the IEEE, 1989, 77(11): 1735-1744.
[3]
Fairuz I R, Joshua D K, Li L, et al.Impact of automatic dependent surveillance-broadcast(ADS-B)on traffic alert and collision avoidance system(TCAS)performance, AIAA-2008-6971[R].Reston: AIAA, 2008.
[4]
Eric P, Alex F, Chen W Z, et al.Sense and avoid (SAA)& traffic alert and collision avoidance system(TCAS)integration for unmanned aerial systems(UAS)AIAA-2007-3004[R].Reston: AIAA, 2007.
[5]
Carbone C, Ciniglio U, Corraro F, et al.A novel 3D geometric algorithm for aircraft autonomous collision avoidance[C]//Proceedings of the 45th IEEE Conference on Decision and Control.Piscataway, NJ: IEEE Press, 2006: 1580-1585.
[6]
Luongo S, Corraro F, Ciniglio U, et al.A novel 3D analytical algorithm for autonomous collision avoidance considering cylindrical safety bubble[C]//Aerospace Conference 2010 IEEE.Piscataway, NJ: IEEE Press, 2010: 1115.
[7]
Finley B. Autonomous collision avoidance the technical requirements[C]//National Aerospace and Electronics Conference.Piscataway, NJ: IEEE Press, 2000: 808-813.
[8]
Timothy W R. Algorithms for airborne conflict detection, prevention, and resolution[C]//Digital Avionics Systems Conference.Piscataway, NJ: IEEE Press, 2004: 3.B.1-1-17.
[9]
Amirreza R, Kunihiko K, Takashi T, et al.Multiple UAV deconfliction via navigation functions, AIAA-2008-6626[R].Reston: AIAA, 2008.
[10]
James P C, Mykel J K.Analysis of open-loop and closed-loop planning for aircraft collision avoidance[C]//14th International IEEE Conference on Intelligent Transportation Systems.Piscataway, NJ: IEEE Press, 2011: 212-217.
[11]
曹红强, 费向东, 刘宇, 等.基于柱体空间的短期冲突告警算法[J].四川大学学报: 自然科学版, 2009, 46(1): 65-68. Cao H Q, Fei X D, Liu Y, et al.Short-term conflict alert algorithm based on cylindrical space[J].Journal of Sichuan University: Natural Science, 2009, 46(1): 65-68(in Chinese).
[12]
Manolis A C, Sifis G K.Automatic commercial aircraft-collision avoidance in free flight: The three-dimensional problem[C]//IEEE Transactions on Intelligent Transportation Systems.Piscataway, NJ: IEEE Press, 2006: 242-249.
[13]
Giancarmine F, Demenico A, Antonio M, et al.Multi-sensor-based fully autonomous non-cooperative collision avoidance system for unmanned air vehicles[J].Journal of Aerospace Computing, Information, and Communication, 2008, 5(10): 338-360.
[14]
Karl D B. A geometric optimization approach to aircraft conflict resolution, AIAA-2000-4265[R].Reston: AIAA, 2000.
[15]
张军. 空域监视技术的新进展及应用[J].航空学报, 2011, 32(1): 1-14.Zhang J.New development and application of airspace surveillance technology[J].Acta Aeronautica et Astronautica Sinica, 2011, 32(1): 1-14(in Chinese).
[16]
颜庆津.数值分析[M].3版.北京: 北京航空航天大学出版社, 2006: 67-68. Yan Q J.Numerical analysis[M].3rd ed.Beijing: Beihang University Press, 2006: 67-68(in Chinese).
2015, Vol. 41 
