A passive approach to autonomous collision detection and avoidance in uninhabited aerial systems

Proceedings - UKSim 10th International Conference on Computer Modelling and Simulation, EUROSIM/UKSim2008

Volumn , Issue , 2008, Pages 64-69

  Angelov, Plamen ^a   Bocaniala, Cosmin Danut ^a   Xideas, Costas ^a   Patchett, Charles ^b   Ansell, Daren ^b   Everett, Michael ^a   Leng, Gang ^a  

^a LANCASTER UNIVERSITY   (United Kingdom)

^b BAE SYSTEMS   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

BEARINGS (STRUCTURAL); COLLISION AVOIDANCE; COMPUTER SYSTEMS; ESTIMATION; GAS DYNAMICS; RISK PERCEPTION; SENSORS; STAGES; TRAJECTORIES;

AERIAL SYSTEMS; AERODYNAMIC CHARACTERISTICS; BEARINGS-ONLY; COLLISION AVOIDANCE MANOEUVRE; COLLISION DETECTION; COLLISION RISKS; COMPUTER MODELLING; CONTROL ACTIONS; DEGREE OF RISKS; INFRA-RED; INTERNATIONAL CONFERENCES; MINIMUM-TIME; MOVING OBSTACLES; NEAR COLLISIONS; NEW APPROACHES; PASSIVE DETECTION; PASSIVE SENSORS; RE-ROUTING; TIME-TO-COLLISION;

RISK ASSESSMENT;

EID: 50149100756     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/UKSIM.2008.135     Document Type: Conference Paper

References (23)

1. D. L. Rockwell, Sensing the future of UAVs, American Institute on Aeronautics and Astronautics (AIAA), Aerospace America On-line, September 2003, http://www.aiaa.org/aerospace/Article.cfm?issuetocid=402.
2. C. Patchett, V. Sastri, Decision Architectures for Uninhabited Autonomous Aerial Systems, EuroSim 2007, Ljubljana, Slovenia, 9-13 September 2007.
3. H. M. Huang, E. Messina, J. Albus, Toward a Generic Model for Autonomy Levels for Unmanned Systems (ALFUS), Proc. NIST PerMIS Workshop, Gaithersburg, MD,USA,Sept.16-18,2003.
4. I. K. Nikolos, L. Doitsidis, V. N. Christopoulos, N. Tsourveloudis, Roll Control of Unmanned Aerial Vehicles using Fuzzy Logic, In WSEAS Transactions on Systems, vol. 3, 2003, pp. 1039-1047.
5. D. Driankov, A. Safiotti (Eds.), "Fuzzy Logic Techniques for Autonomous Vehicle Navigation", Springer Verlag: Heidelberg, Germany, 2001, ISBN 3-7908-1341-9.
6. V. Kanakakis, K. P. Valavanis, N. C. Tsourveloudis, "Fuzzy Logic Based Navigation of Underwater Vehicles", Journal of Intelligent & Robotic Syst., v. 40,pp. 45-88, 2004.
7. A. Chakravarthy, D. Ghose, "Obstacle Avoidance in a Dynamic Environment: A Collision Cone Approach", IEEE Transactions on Systems, Man and Cybernetics - Part A: Systems and Humans, Vol.28, No.5, pp.562-574, 1998.
8. Y. Watanabe, A. J. Calise, E. N. Johnson, Vision-Based Obstacle Avoidance for UAVs, In Proc. American Inst. of Aeronautics and Astronautics (AIAA), Guidance, Navigation, and Control Conference and Exhibit, 20-23 August 2007, Hilton Head, SC, USA, pp.1-11.
9. nd Intern. Conference on Autonomous Robots and Agents, 2004, Palmerston North, New Zealand, pp.76-82.
10. D. E. Grilley, Resolution Requirements for Passive Sense and Avoid, available at http://www.uavm.com/images/GRILLEY_.PDF.
11. B. Zak, The Problems of Collision Avoidance at Sea in the Formulation of Complex Motion Principles, Intern. Journal of Applied Mathematics and Computer Science, Vol.14, No.4, pp.503-514.
12. The Rules of the Air 1996 (Statutory Instrument 1996 No.1393) http://www.hmso.gov.uk/si/si1996/Uksi_19961393_en_2.htm
13. K. M. Krishna, P. K. Kalra, "Detection, Tracking, and Avoidance of Multiple Dynamic Objects", Journal of Intelligent and Robotic Systems, vol. 33, pp. 371-408, 2002.
14. L. Doitsidis, K. P. Valavanis, N. C. Tsourveloudis, M. Kontitsis, A Framework for Fuzzy Logic Based UAV Navigation and Control. In Proc. IEEE Intern. Conf. on Robotics and Automation, pp. 4041-4046, April 2004, New Orleans, USA.
15. G. Ashworth, Fuzzy Control as a method of providing Collision Avoidance, MSc Thesis, Loughborough University, Loughborough, UK, 2004, 205pp.
16. P. S. Lee, L. L. Wang, "Collision avoidance by fuzzy logic for AGV navigation", Journal of Robotic Systems, vol. 11 No.8 (1994), 743-760.
17. L. F. Winder, J. K. Kuchar, "Evaluation of Collision Avoidance Maneuvers for Parallel Approach", Journal of Guidance, Control & Dynamics, vol. 22, No.6, 1999, pp. 801- 807.
18. P. P. Angelov, C. D. Bocaniala, C. Xydeas, UAV Collision Avoidance Algorithm Development - Final Report, issue 3, 27 March 2007, Lancaster, pp.1-69.
19. P. Angelov, C. Xydeas, C. D. Bocaniala, D. Ansell, C. Patchett, M. Everett, UAV collision avoidance - state of the art and possible solutions, VTOL UAV, Helitech, Imperial War Museum, Duxford, UK, 4 October 2007.
20. EUROCONTROL Specifications for the use of military UAV as operational air traffic outside segregated airspace, EUROCONTROL-SPEC0102, EUROCONTROL, 26 July 2007, available at http://www.eurocontrol.int/mil/gallery/content/public/ milgallery/documents/ENPRM%20UAV-OAT/ENPRMMIL.UAV.OAT%20Enclosure%201.pdf Accessed 15 December 2007.
21. The Air Pilot's Manual Volume 2: Aviation Law, Aeromedicine and Safety, Aviation Meteorology. Trevor Thom, 2nd Edition, 1987, Airlife Publishing Ltd. ISBN 1-85310-015-3.
22. P. Angelov, An Approach for Fuzzy Rule-base Adaptation using On-line Clustering, Intern. Journal of Approx. Reasoning, vol. 35, No 3, March 2004, pp. 275-289.
23. P. Angelov, X. Zhou, On Line Learning Fuzzy Rule-based System Structure from Data Streams, World Congress on Computational Intelligence, WCCI-2008, Hong Kong, 1-6 June 2008, to appear.