A Geofence Algorithm for Autonomous Flight Unmanned Aircraft System

摘要

In order to improve the safety of UAS flight, an autonomous flight UAS geofence algorithm is proposed. Firstly, by scaling the original geofence, a geofence pre-control-layer generation algorithm is proposed. Then, the buffer is added on the basis of traditional ray method to solve the problem of misjudgement of intersection points. The improved ray casting algorithm is used to detect the violation of geofence, and a re-planning method of the violating waypoints is proposed for the UAS with violating danger. The corresponding control law of boundary maintaining autonomous controls is designed. Simulation results both show that the UAS can modify the original flight path as little as possible on the basis of avoiding the violation of the geofence, and the proposed geofence algorithm is effective and can ensure the flight safety of autonomous UAS in geo-fence.