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A Reactive Inverse PN Algorithm for Collision Avoidance among Multiple Unmanned Aerial Vehicles

George, Joel and Ghose, Debasish (2009) A Reactive Inverse PN Algorithm for Collision Avoidance among Multiple Unmanned Aerial Vehicles. In: 2009 American Control Conference, June 10-12, 2009, Hyatt Regency Riverfront, St. Louis, MO, USA, pp. 3890-3895.

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Abstract

While performing a mission, multiple Unmanned Aerial Vehicles (UAVs) need to avoid each other to prevent collisions among them. In this paper, we design a collision avoidance algorithm to resolve the conflict among UAVs that are on a collision course while flying to heir respective destinations. The collision avoidance algorithm consist of each UAV that is on a collision course reactively executing a maneuver that will, as in `inverse' Proportional Navigation (PN), increase Line of Sight (LOS) rate between them, resulting in a `pulling out' of collision course. The algorithm is tested for high density traffic scenarios as well as for robustness in the presence of noise.

Item Type: Conference Poster
Additional Information: . Copyright 2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 08 Jan 2010 07:39
Last Modified: 19 Sep 2010 05:49
URI: http://eprints.iisc.ernet.in/id/eprint/24240

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