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). Automatic Dependent Surveillance-Broadcast (ADS-B) is used to detect aircrafts. The UAV needs to fly through pre-assigned waypoints while avoiding collisions with other aircrafts. The aircrafts are neutral to the UAV. A collision with aircrafts are detected by simulating the UAV's trajectory along the path of assigned waypoints using its closed-loop dynamics. A sampling
more » ... d 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. The path will be re-planned if it leads to a collision. The algorithm was validated in Software In the Loop Simulation (SITL). ADS-B data obtained from commercial aircrafts flying over the Phoenix Skyharbor airport are used for simulating the collisions. The paper shows that the algorithm enables the UAV to avoid multiple aircrafts with different approaching angles and speeds.
doi:10.1109/icra.2015.7140098 dblp:conf/icra/LinS15 fatcat:u3uqm77pnvdcldpzv4d53xagay