Abstract
Both industry and the research community are becoming more interested in utilizing unmanned, autonomous or semi-autonomous vehicles for missions such as surveillance, reconnaissance, and search-and-rescue. One necessary function in each of these missions is collision avoidance or trajectory decon iction. While many approaches have been theorized and simulated, few have been tested in hardware-in-the-loop systems. The objective of this paper is to present test results of various algorithms for decon iction and collision avoidance in a system of multiple aerial unmanned autonomous vehicles (UAVs). A potential function method is demonstrated as well as model predictive control and avoidance control with in nite barrier functions. Theories describe the di erent approaches and suggest the key features of each. These algorithms are implemented in real time on ying vehicles operating in an indoor test facility. Identical experiments are performed for each algorithm and results are discussed.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.