UAV Collision Avoidance: A Specific Acceleration Matching control approach
UAV Collision Avoidance: A Specific Acceleration Matching control approach
复制标题
无人机防撞：一种特定的加速度匹配控制方法
DOI：
10.1109/afrcon.2011.6072176
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
S. Winberg
中科院分区：
文献类型：
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作者：
Amir Patel;S. Winberg
无人机（UAV）的潜在用途是巨大的。然而，他们的大部分潜力只有通过给予他们更高水平的自主权才能真正释放出来。本文研究了一种基于比加速度匹配的自主避碰系统，简称CASSAM。这种方法正在研究中，因为它可能被证明是提高无人机自主水平的有效手段。本文介绍了CASSAM的设计，首先通过建模的无人机动力学，然后通过设计合适的控制算法。二维仿真结果表明，该方法能够以最小的控制量有效地规避威胁，是解决无人机避碰问题的一种可行方案。
The potential uses for Unmanned Aerial Vehicles (UAVs) is vast. However, much of their potential can only truly be unlocked by giving them a higher level of autonomy. This paper focuses on an autonomous Collision Avoidance System using Specific Acceleration Matching, which is termed the ‘CASSAM’ in this paper. This approach is being studied as it may prove an effective means to increase the level of autonomy of UAVs. The paper presents the design of the CASSAM first by modelling the UAV dynamics and then by designing suitable control algorithms. Simulation results in 2D show that it is a viable option to address the UAV collision avoidance problem having effectively evaded threats with minimal control effort.