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Sense and avoid for Unmanned Aerial Vehicles using ADS-B

Yucong Lin, Srikanth Saripalli
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
A sampling based algorithm is used for collision avoidance path planning. A second collision check is performed on the generated path with the updated UAV and aircrafts' states.  ...  We present the design and implementation of an aircraft collision avoidance algorithm for Unmanned Aerial Vehicles (UAVs).  ...  CONCLUSION AND FUTURE WORKS In this paper, we develop a path planning algorithm based on closed-loop RRT for UAV collision avoidance. ADS-B is used to detect the aircrafts to be avoided.  ... 
doi:10.1109/icra.2015.7140098 dblp:conf/icra/LinS15 fatcat:u3uqm77pnvdcldpzv4d53xagay

Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles [chapter]

Sivaranjini Srikanthakumar, Cunjia Liu, Wen Hua Chen
2011 Recent Developments in Unmanned Aircraft Systems  
Based on a 6 Degree of Freedom (6DoF) kinematic and dynamic model of a UAV, the path planning and collision avoidance algorithms are developed in 3D space.  ...  The clearance criterion for the UAV obstacle avoidance system is defined as the minimum distance from the aircraft to the obstacle during the collision avoidance maneuver.  ...  UAV path planning using the artificial potential field method will be used as a candidate collision avoidance technique in this paper for safety assessment.  ... 
doi:10.1007/978-94-007-3033-5_16 fatcat:6oitzotuavczbhaftzvny273va

Optimization Methods Applied to Motion Planning of Unmanned Aerial Vehicles: A Review

Amber Israr, Zain Anwar Ali, Eman H. Alkhammash, Jari Juhani Jussila
2022 Drones  
These applications require motion planning of UAVs along with collision avoidance protocols to get better robustness and a faster convergence rate to meet the target.  ...  In this survey, diverse scholarly articles were gathered to highlight the motion planning for UAVs that use bio-inspired algorithms.  ...  Sampling-Based Motion Planning Random selection is used in sampling-based motion planning to build a graph or tree (path) in C-space on which queries (start/goal configurations) can be solved, as shown  ... 
doi:10.3390/drones6050126 fatcat:gmays7nvtzfjpdlbc67jbn3hle

Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles

Sivaranjini Srikanthakumar, Cunjia Liu, Wen Hua Chen
2011 Journal of Intelligent and Robotic Systems  
Based on a simplified 4 Degree of Freedom (4DoF) kinematic and dynamic model of a UAV, the path planning and collision avoidance algorithms are developed in 3D.  ...  The clearance criterion for the UAV obstacle avoidance system is defined as the minimum distance from the aircraft to the obstacle during the collision avoidance manoeuvre.  ...  UAV path planning using the artificial potential field method will be used as a candidate collision avoidance technique for safety assessment.  ... 
doi:10.1007/s10846-011-9586-0 fatcat:qxdwfaxmjfcq3ilafsjkspphmy

Online Path Generation and Navigation for Swarms of UAVs [article]

Adnan Ashraf and Amin Majd and Elena Troubitsyna
2019 arXiv   pre-print
In this paper, we present an online, collision-free path generation and navigation system for swarms of UAVs.  ...  The proposed system uses geographical locations of the UAVs and of the successfully detected, static and moving obstacles to predict and avoid: (1) UAV-to-UAV collisions, (2) UAV-to-static-obstacle collisions  ...  Acknowledgments The work was supported by the Academy of Finland projects OpenCPS: Open Integrated Framework for Accelerating Development of Resilient CPS and CoRA: Continuous Resilience Assurance of Complex  ... 
arXiv:1912.09288v1 fatcat:uxncql7sw5et3clgkdxk5i3wpe

Incorporation of Potential Fields and Motion Primitives for the Collision Avoidance of Unmanned Aircraft

Kyuman Lee, Daegyun Choi, Donghoon Kim
2021 Applied Sciences  
When a collision checker based on the k-d tree search algorithm detects collision risk on extracted sample points from the planned trajectory, generating re-planned path candidates to avoid obstacles is  ...  Collision avoidance (CA) using the artificial potential field (APF) usually faces several known issues such as local minima and dynamically infeasible problems, so unmanned aerial vehicles' (UAVs) paths  ...  When the MPs-based motion planning in Section 2.1 are ready for collision checking, an autonomous UAV first extracts sample points from the planned path within the observable area (e.g., sensing range  ... 
doi:10.3390/app11073103 fatcat:x4ruf7el4rdcvpvxqplmzeqwla

Vision-based Distributed Multi-UAV Collision Avoidance via Deep Reinforcement Learning for Navigation [article]

Huaxing Huang, Guijie Zhu, Zhun Fan, Hao Zhai, Yuwei Cai, Ze Shi, Zhaohui Dong, Zhifeng Hao
2022 arXiv   pre-print
Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task.  ...  In this paper, we presented a vision-based decentralized collision-avoidance policy for multi-UAV systems, which takes depth images and inertial measurements as sensory inputs and outputs UAV's steering  ...  This is because each UAV adjusts its planning path more frequently to avoid collision compared to RL+VAE.  ... 
arXiv:2203.02650v1 fatcat:mabq6mlbfvehffzjzvzvdws5ei

Path planning using 3D Dubins Curve for Unmanned Aerial Vehicles

Yucong Lin, Srikanth Saripalli
2014 2014 International Conference on Unmanned Aircraft Systems (ICUAS)  
We present a path planning algorithm based on 3D Dubins Curves [1] for Unmanned Aerial Vehicles (UAVs) to avoid both static and moving obstacles.  ...  When the UAV executes the path, the path is checked for collision with updated obstacles' states. A new path is generated if the previous one is predicted to collide with obstacles.  ...  A more fundamental problem-path planning in dynamic environment was studied in [17] , [18] , [19] , [20] by sampling-based planning.  ... 
doi:10.1109/icuas.2014.6842268 fatcat:ehevt73whbcv7p6ri75spwaspu

UAV autonomous collision avoidance approach

Renke He, Ruixuan Wei, Qirui Zhang
2017 Automatika  
experience" for UAV executing the avoidance manoeuvre.  ...  The threat information is sensed using the sensory layer, and the path planning approach in the logical layer is applied to the output configuration of UAV.  ...  If so, the UAV behaviour is output in the bank; otherwise, execute path planning to generate a new path to resolve the collision avoidance, and put the new result into the sample.  ... 
doi:10.1080/00051144.2017.1388646 fatcat:sm2sfbj64nbrhjair6b55ojyw4

Obstacle Avoidance Model for UAVs with Joint Target based on Multi-Strategies and Follow-up Vector Field

Xue Zheng, Stéphane Galland, Xiaowei Tu, Qinghua Yang, Alexandre Lombard, Nicolas Gaud
2020 Procedia Computer Science  
A multi-strategies obstacle avoidance method based on follow-up rotating vector field is proposed for UAV flight planning.  ...  Abstract A multi-strategies obstacle avoidance method based on follow-up rotating vector field is proposed for UAV flight planning.  ...  Flight Path Planning Strategies In this section, two complementary strategies are proposed for computing the UAV's path: avoid collisions based on weighting factors, and track the target.  ... 
doi:10.1016/j.procs.2020.03.038 fatcat:czmjieb74bdcjdxrf4sc4uxahy

iADA*-RL: Anytime Graph-Based Path Planning with Deep Reinforcement Learning for an Autonomous UAV

Aye Aye Maw, Maxim Tyan, Tuan Anh Nguyen, Jae-Woo Lee
2021 Applied Sciences  
A hybrid path planning approach is developed by combining a graph-based path planning algorithm with a learning-based algorithm for local planning to allow the UAV to avoid a collision in real time.  ...  In this paper, we propose a hybrid path planning algorithm that uses an anytime graph-based path planning algorithm for global planning and deep reinforcement learning for local planning which applied  ...  Acknowledgments: All of the authors would like to appreciate and thank the anonymous reviewers for giving such detailed and constructive comments and suggestions throughout the peer-review processes.  ... 
doi:10.3390/app11093948 doaj:f82b365632e24676928f5fe2276dbbc0 fatcat:u4i72ga6lzg2hdozphbx5zqkda

Multi-UAV trajectory planning for 3D visual inspection of complex structures [article]

Stefan Ivić, Bojan Crnković, Luka Grbčić, Lea Matleković
2022 arXiv   pre-print
This paper presents a new trajectory planning algorithm for 3D autonomous UAV volume coverage and visual inspection.  ...  The other two inspection scenarios are based on realistic structures where UAVs are commonly utilized: a wind turbine and a bridge.  ...  A multi-UAV sampling-based Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures is presented in [28] .  ... 
arXiv:2204.10070v1 fatcat:utyznswe7bfz7pnn25uasyiuci

Online Path Generation and Navigation for Swarms of UAVs

Adnan Ashraf, Amin Majd, Elena Troubitsyna
2020 Scientific Programming  
In this paper, we present an online, collision-free path generation and navigation system for swarms of UAVs.  ...  The proposed system uses geographical locations of the UAVs and of the successfully detected, static, and moving obstacles to predict and avoid the following: (1) UAV-to-UAV collisions, (2) UAV-to-static-obstacle  ...  OpenCPS: Open Integrated Framework for Accelerating Development of Resilient CPS and CoRA: Continuous Resilience Assurance of Complex Software-Intensive Systems.  ... 
doi:10.1155/2020/8530763 fatcat:mtopvdvmavgylf4f6syvrakab4

An Autonomous Path Planning Method for Unmanned Aerial Vehicle based on A Tangent Intersection and Target Guidance Strategy [article]

Huan Liu, Xiamiao Li, Mingfeng Fan, Guohua Wu, Witold Pedrycz, Ponnuthurai Nagaratnam Suganthan
2020 arXiv   pre-print
To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm based on a tangent intersection and target guidance strategy (APPATT).  ...  Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently.  ...  methods for UAV path planning.  ... 
arXiv:2006.04103v1 fatcat:fveyrel5ujdqzpxlvtso6xmzym

Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs

Liang Lu, Carlos Sampedro, Javier Rodriguez-Vazquez, Pascual Campoy
2019 2019 International Conference on Unmanned Aircraft Systems (ICUAS)  
In this paper, we present a new collision avoidance algorithm by combining an RRT* path planner with a Signed Distance Field (SDF) based collision checking algorithm, in which the trajectory is optimized  ...  Collision avoidance plays a crucial role for autonomous navigation in unknown dynamic environments and still remains an ongoing research problem.  ...  As mentioned by Michal Kleinbort et al [5] , collision checking plays a very important part for reducing the time of collision-free path finding of sampling-based planners.  ... 
doi:10.1109/icuas.2019.8798124 fatcat:az5w27sj5ffshbr4rx2qtgubym
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