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Collision Avoidance for Cooperative UAVs with Rolling Optimization Algorithm Based on Predictive State Space

Tianyuan Yu, Jun Tang, Liang Bai, Songyang Lao
2017 Applied Sciences  
With air traffic densities increasing, it is more and more important for UAVs to be able to predict and avoid collisions.  ...  The main goal of this research effort is to adjust real-time trajectories for cooperative UAVs to avoid collisions in three-dimensional airspace.  ...  Foundation of China (71601181), and the State Key Laboratory of Management and Control for Complex Systems-Open Project (20160109).  ... 
doi:10.3390/app7040329 fatcat:m2r7of3sdzaollyaitz7fykzr4

Multi-UAVs Formation Autonomous Control Method Based on RQPSO-FSM-DMPC

Shao-lei Zhou, Yu-hang Kang, Hong-de Dai, Zhou Chao
2016 Mathematical Problems in Engineering  
process of penetration; the mutual collision avoidance problems and communication constraint problems among the formation also need to be considered.  ...  cost function, and it is compared with the result which is solved by particle swarm algorithm.  ...  Based on optimal trajectory generator coupled with a modified sliding controller for tracking the trajectory and avoiding collisions, the literature [27] accomplishes a UAV formation reconfiguration  ... 
doi:10.1155/2016/4878962 fatcat:pctga5thffa5xgnznnupfijeby

Trajectory planning for UAV based on improved ACO algorithm

Bo Li, Xiaogang Qi, Baoguo Yu, Lifang Liu
2019 IEEE Access  
Then, considering size constraint of UAVs, this paper gives three trajectory correction schemes to solve the collision avoidance problem and further to optimize the initial trajectory.  ...  However, existing methods do not solve some problems well, such as slow convergence speed and low searching efficiency of related algorithms and collisions between UAVs and the obstacles.  ...  ACKNOWLEDGMENT The authors sincerely thank the anonymous reviewers for their valuable and constructive comments.  ... 
doi:10.1109/access.2019.2962340 fatcat:snlpnqdumzbztjpv2mgq7xbtw4

Anti-collision Technologies for Unmanned Aerial Vehicles: Recent Advances and Future Trends [article]

Zhiqing Wei, Zeyang Meng, Meichen Lai, Huici Wu, Jiarong Han, Zhiyong Feng
2022 arXiv   pre-print
With the massive number of UAV flight activities, the anti-collision technologies aiming to avoid the collisions between UAVs and other objects have attracted much attention.  ...  Then, the process of anti-collision technologies are reviewed from three aspects, i.e., obstacle sensing, collision prediction, and collision avoidance.  ...  For dynamic obstacles, [60] constructed a 2-D collision cone and searches for the minimum angle θ d between the relative velocity vector of the UAV and the hypotenuses of the cone.  ... 
arXiv:2109.12832v3 fatcat:z6apje7csbahnhv3uetcn4pv7y

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.  ...  Among flying robots, Unmanned Aerial Vehicles (UAVs) are highly attractive and applicable for military and civilian purposes.  ...  [45] worked on optimizing trajectories for UAVs that used less time in searching for targets, avoided collisions, and maintained communication.  ... 
doi:10.3390/drones6050126 fatcat:gmays7nvtzfjpdlbc67jbn3hle

Max-Min Adaptive Ant Colony Optimization Approach to Multi-UAVs Coordinated Trajectory Replanning in Dynamic and Uncertain Environments

Hai-bin Duan, Xiang-yin Zhang, Jiang Wu, Guan-jun Ma
2009 Journal of Bionic Engineering  
Considering the simultaneous arrival and the air-space collision avoidance, an Estimated Time of Arrival (ETA) is decided first. Then the trajectory and flight velocity of each UAV are determined.  ...  , and the point pheromone is adopted to achieve the collision avoidance between UAVs at the trajectory planner layer.  ...  Acknowledgement This work was supported by the Natural Science The authors are grateful to the anonymous referees for their valuable comments and suggestions.  ... 
doi:10.1016/s1672-6529(08)60113-4 fatcat:yt2ndztat5ampp5tr2k5w7adku

Multi-UAV path planning based on fusion of Sparrow Search Algorithm and improved Bioinspired Neural Network

Qingli Liu, Yang Zhang, Mengqian Li, Zhenya Zhang, Na Cao, Jiale Shang
2021 IEEE Access  
She is currently pursuing the master's degree with the Communication and Network Laboratory, Dalian University.  ...  She is currently pursuing the master's degree with the Communication and Network Laboratory, Dalian University.  ...  In order to avoid collisions between UAV, each UAV takes off at different coordinate points, and takeoff time has the sequence.  ... 
doi:10.1109/access.2021.3109879 fatcat:nhvkywkgcvcjjkylef6vl74k4m

A Self-Organized Reciprocal Decision Approach for Sensing Coverage with Multi-UAV Swarms

Runfeng Chen, Ning Xu, Jie Li
2018 Sensors  
In addition, for up to 10 3 -size UAVs, the proposed method is found to have excellent scalability and collision-avoiding ability.  ...  In addition, for up to 10 3 -size UAVs, the proposed method has excellent scalability and collision-avoiding ability. distributed decision, the emergence of collective behavior by simple UAVs' interaction  ...  During the movement of UAVs, collisions with other UAVs and with obstacles are avoided.  ... 
doi:10.3390/s18061864 pmid:29875349 pmcid:PMC6022005 fatcat:pgmwfshlqfaxdgraw5sbdlwdha

Model Predictive Control for Aerial Collision Avoidance in Dynamic Environments

Manuel Castillo-Lopez, Seyed Amin Sajadi-Alamdari, Jose Luis Sanchez-Lopez, Miguel A. Olivares-Mendez, Holger Voos
2018 2018 26th Mediterranean Conference on Control and Automation (MED)  
In this paper, we present a new approach to dynamic collision avoidance for multi-rotor unmanned aerial vehicles (UAVs).  ...  Autonomous navigation in unknown environments populated by humans and other robots is one of the main challenges when working with mobile robots.  ...  Even though that the UAV manage to avoid all obstacles, the generated maneuvers interfere with the trajectories of pedestrians, leading to situations with greater risk and higher deviations from the optimal  ... 
doi:10.1109/med.2018.8442967 dblp:conf/med/Castillo-LopezS18 fatcat:lt5chgyxc5hinfl6fzggsnjhru

A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems [article]

Björn Lindqvist, Pantelis Sopasakis, George Nikolakopoulos
2021 arXiv   pre-print
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are  ...  The NMPC problem is solved using an ad hoc solver where PANOC is combined with an augmented Lagrangian method to compute collision-free trajectories.  ...  The ability to optimize over future predicted states allows for a direct consideration of moving obstacles, and with fast optimization algorithms allow for real-time reactive and proactive avoidance.  ... 
arXiv:2104.03783v1 fatcat:p5nramzyd5gbzjzcydcujbcwi4

Sense and avoid for Unmanned Aerial Vehicles using ADS-B

Yucong Lin, Srikanth Saripalli
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We present the design and implementation of an aircraft collision avoidance algorithm for Unmanned Aerial Vehicles (UAVs).  ...  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.  ...  In "Sense and Avoid", an UAV must be able to detect and avoid collisions with aircrafts and other obstacles in the air.  ... 
doi:10.1109/icra.2015.7140098 dblp:conf/icra/LinS15 fatcat:u3uqm77pnvdcldpzv4d53xagay

Distributed Cooperative Search Algorithm with Task Assignment and Receding Horizon Predictive Control for Multiple Unmanned Aerial Vehicles

Kun Hou, Yajun Yang, Xuerong Yang, Jiazhe Lai
2021 IEEE Access  
Moreover, the conflict between the requirements of target search and connectivity maintenance of the UAVs is mitigated using the minimum spanning tree strategy to optimize the communication topology while  ...  For target search using multiple unmanned aerial vehicles (UAVs) while knowing the probability distribution of the targets, a distributed cooperative search algorithm aiming to minimize the search time  ...  should be designed to plan optimal paths that bring the highest detection rewards to the UAVs while considering the constraints of communication maintenance and collision avoidance.  ... 
doi:10.1109/access.2020.3048974 fatcat:np5dzyrrjbarlisbz25smdjbka

The Velocity Assignment Problem for Conflict Resolution with Multiple Aerial Vehicles Sharing Airspace

D. Alejo, J. M. Díaz-Báñez, J. A. Cobano, P. Pérez-Lantero, A. Ollero
2012 Journal of Intelligent and Robotic Systems  
Then, the paper presents three different collision detection and resolution methods based on speed planning. The paper also presents simulations and studies for several scenarios.  ...  the initial planned trajectory is minimized.  ...  The aim in this paper is to search for near-optimal solutions. For this reason, the planned trajectories of all UAVs must be known.  ... 
doi:10.1007/s10846-012-9768-4 fatcat:d2izjh7c7zbiphnikai56jxn4u

An overview of emerging results in cooperative UAV control

A. Ryan, M. Zennaro, A. Howell, R. Sengupta, J.K. Hedrick
2004 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)  
as traditional aircraft-related topics such as collision avoidance and formation flight.  ...  Accordingly, research topics in cooperative UAV control include efficient computer vision for real-time navigation and networked computing and communication strategies for distributed control, as well  ...  Collision and Obstacle Avoidance Collision and obstacle avoidance are the basis of safe UAV flight.  ... 
doi:10.1109/cdc.2004.1428700 fatcat:d6x73m2rdjhwpfhijiua4izsoa

Path Planning and Real-Time Collision Avoidance Based on the Essential Visibility Graph

Luciano Blasi, Egidio D'Amato, Massimiliano Mattei, Immacolata Notaro
2020 Applied Sciences  
Results show that the algorithm is always able to identify trajectories compliant with ICAO rules for avoiding collisions and assuring a minimum safety distance as well.  ...  A real-time collision avoidance algorithm solving the optimization problem as a minimum cost piecewise linear path search within the so-called Essential Visibility Graph (EVG) is first developed.  ...  A real-time collision avoidance algorithm was developed based on the Essential Visibility Graph (EVG) solving the optimization problem as a minimum cost piecewise linear path search.  ... 
doi:10.3390/app10165613 fatcat:jknxssx6zjb4bbr3jxm6ncicbq
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