Reactive Collision Avoidance of Using Nonlinear Geometric and Differential Geometric Guidance

摘要

UNMANNED Aerial Vehicles (UAVs) hold good promise fornautonomously carrying out complex civilian and militarynoperations. However, many of these missions require them to fly atnlow altitudes, making them vulnerable to collision with bothnstationary as well as moving obstacles. Hence, it is vital that UAVsnare equipped with autonomous capability to sense and avoidncollisions, especially for the pop-up threats. When such a threat isnsensed and a collision is predicted within a short time ahead, theUAVnshould be able to react and maneuver away quickly so that thencollision is avoided. An algorithm which can assure such a maneuvernis called a “reactive collision avoidance algorithm.” Since thenavailable reaction time in such a scenario is usually is small andnUAVs are usually limited by computational resources, such annalgorithm should also be computationally very efficient (it shouldnpreferably be noniterative). It is also required that while maneuveringnaway, it should not maneuver too much away from the obstacle either.nThis is both to avoid collision from other nearby obstacles and not toncompromise on the overall mission objective.