Abstract

This paper develops and presents simulation results for a proportional navigation based guidance law for UAV collision avoidance. It is assumed that the location of one or more collision threats is provided by an image processing algorithm, which provides the bearing angles to each threat, but not the range. The motion of each tracked threat in the image plane is then used to estimate the rate of change of the horizontal and vertical line-of-sight angles to the aircraft, which is in turn used in a proportional navigation based guidance law to minimize the probability of a collision. The principle of proportional navigation, which is pervasively used for missile intercept guidance laws, states that two vehicles are on a collision course if the rate of change of the line-of-sight angles is zero. The guidance law first determines if a collision avoidance maneuver is required based on the measured line-of-sight rates. If it is determined that the line-of-sight rates are small enough to indicate the risk of a collision, the guidance law then commands a maneuver to increase the magnitude of the line-of-sight rate to reduce the probability of a collision. This paper extends previous results, which considered the implementation of this guidance law for a single threat in two dimensions, to multiple threats in a three-dimensional environment. Simulation results using this guidance law are presented using a full six degree-of-freedom model representative of the dynamics of a medium-scale UAV.

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