UAS Collision Encounter Modeling and Avoidance Algorithm Development for Simulating Collision Avoidance

Abstract

3Collision encounter modeling and simulation tools are developed for analyzing and evaluating unmanned aerial vehicle collision avoidance systems. All of the necessary components of a collision avoidance system simulation-based evaluation in three dimensions are discussed, including encounter trajectory generation for many collision scenarios, detection algorithms, and avoidance algorithms. The encounter trajectory generator uses statistical parameters for aircraft performance and maneuvers and statistical scenario parameters that create many diverse encounters in short order. Detection algorithms consist of a geometric sensor model, the collision cone approach, and a prioritization scheme that detect and determine the collision potential between the unmanned aircraft and multiple threat aircraft. Avoidance algorithms consist of proportional navigation guidance that uses information from the collision cone algorithm to command three dimensional avoidance maneuvers. Simulation results are provided to demonstrate the utility of the tools for collision avoidance system evaluations, and to demonstrate the effectiveness of the proposed algorithms. Simulation component interfaces are discussed to promote compatibility with many proposed algorithms and other evaluation tools.