Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Proportional Navigation-Based Optimal Collision Avoidance for UAVs

비례항법을 이용한 무인 항공기의 최적 충돌 회피 기동

  • 한수철 (한국과학기술원 기계공학과) ;
  • 방효충 (한국과학기술원 기계공학과)
  • Published : 2004.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

Optimal collision avoidance algorithm for unmanned aerial vehicles based on proportional navigation guidance law is investigated this paper. Although proportional navigation guidance law is widely used in missile guidance problems, it can be used in collision avoidance problem by guiding the relative velocity vector to collision avoidance vector. The optimal navigation coefficient can be obtained if an obstacle if an obstacle moves at constant velocity vector. The stability of the proposed algorithm is also investigated. The stability can be obtained by choosing a proper navigation coefficient.

Keywords

References

  1. O. Khatib and Burdick, 'Motion and force control of robot manipulators,' in proc. IEEE Robotics and Automation, April 1986, pp. 1381-1386
  2. P. Tang, Y. Yang, and X. Li, 'Dynamic obst-acle avoidance based on fuzzy inference and principle for soccer robots,' in IEEE, 10th International Conference on Fuzzy Systems, vol. 3. IEEE, Dec 2001, pp. 1062-1064 https://doi.org/10.1109/FUZZ.2001.1008836
  3. D. Rathbun, S. Kragelund, A. Pongpunwattana, and B. Capozzi, 'An evolution based path planning algorithm for autonomous motion of a UAV through uncertain environments,' in proc. IEEE Digital Avionics Systems Conference, vol. 2, 2002, pp. 8D2-1-8D2-12 https://doi.org/10.1109/DASC.2002.1052946
  4. C. Tomlin, G. Pappas, and S. Sastry, 'Conflict resolution for air traffic management : A study in multi-agent hybrid systems,' Trans. IEEE Automatic Control, April 1998, pp. 509-521 https://doi.org/10.1109/9.664154
  5. K. Sigurd and J. How, 'UAV trajectory design using total field collision avoidance, ' in Proc. AIAAA Guidancee, Navigation, and Control Conference, August 2003
  6. A. S. Murtaugh, H. E. Criel, 'Fundame-ntals of proportional navigation,' IEEE spectrum, December 1966, pp. 75-85
  7. C. D. Yang, and C. C. Yang, 'Optimal pure proportional navigation for maneuvering targets,' IEEE Transaction on Aerospace and Electronics Systems, vol. 33, July 1997, no. 3, pp. 949-957 https://doi.org/10.1109/7.599315