Modeling and analysis of dynamic collision region for UAV avoiding aerial intruders

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.