scholarly journals A Distributed Approach for Collision Avoidance between Multirotor UAVs Following Planned Missions

Sensors ◽  
2019 ◽  
Vol 19 (10) ◽  
pp. 2404 ◽  
Author(s):  
Francisco Fabra ◽  
Willian Zamora ◽  
Julio Sangüesa ◽  
Carlos T. Calafate ◽  
Juan-Carlos Cano ◽  
...  
Keyword(s):  
Wireless Communications ◽  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Distributed Approach ◽  
Aerial Vehicles ◽  
Potential Applications ◽  
Simulation Results

As the number of potential applications for Unmanned Aerial Vehicles (UAVs) keeps rising steadily, the chances that these devices get close to each other during their flights also increases, causing concerns regarding potential collisions. This paper proposed the Mission Based Collision Avoidance Protocol (MBCAP), a novel UAV collision avoidance protocol applicable to all types of multicopters flying autonomously. It relies on wireless communications in order to detect nearby UAVs, and to negotiate the procedure to avoid any potential collision. Experimental and simulation results demonstrated the validity and effectiveness of the proposed solution, which typically introduces a small overhead in the range of 15 to 42 s for each risky situation successfully handled.

Intelligent cooperative collision avoidance via fuzzy potential fields

Robotica ◽  
2021 ◽  
pp. 1-20
Author(s):  
Daegyun Choi ◽  
Anirudh Chhabra ◽  
Donghoon Kim
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Fuzzy Inference ◽  
Potential Fields ◽  
Rule Base ◽  
Local Minima ◽  
Inference System ◽  
Aerial Vehicles ◽  
Different Shapes ◽  
Simulation Results

Summary This paper proposes an intelligent cooperative collision avoidance approach combining the enhanced potential field (EPF) with a fuzzy inference system (FIS) to resolve local minima and goal non-reachable with obstacles nearby issues and provide a near-optimal collision-free trajectory. A genetic algorithm is utilized to optimize parameters of membership function and rule base of the FISs. This work uses a single scenario containing all issues and interactions among unmanned aerial vehicles (UAVs) for training. For validating the performance, two scenarios containing obstacles with different shapes and several UAVs in small airspace are considered. Multiple simulation results show that the proposed approach outperforms the conventional EPF approach statistically.

scholarly journals A Detailed Survey and Future Directions of Unmanned Aerial Vehicles (UAVs) with Potential Applications

Aerospace ◽  
2021 ◽  
Vol 8 (12) ◽  
pp. 363
Author(s):  
Nourhan Elmeseiry ◽  
Nancy Alshaer ◽  
Tawfik Ismail
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Design Process ◽  
Precision Agriculture ◽  
Optimization Techniques ◽  
Battery Life ◽  
Future Directions ◽  
Multiple Sensors ◽  
Aerial Vehicles ◽  
Potential Applications

Recently, unmanned aerial vehicles (UAVs), also known as drones, have gained widespread interest in civilian and military applications, which has led to the development of novel UAVs that can perform various operations. UAVs are aircraft that can fly without the need of a human pilot onboard, meaning they can fly either autonomously or be remotely piloted. They can be equipped with multiple sensors, including cameras, inertial measurement units (IMUs), LiDAR, and GPS, to collect and transmit data in real time. Due to the demand for UAVs in various applications such as precision agriculture, search and rescue, wireless communications, and surveillance, several types of UAVs have been invented with different specifications for their size, weight, range and endurance, engine type, and configuration. Because of this variety, the design process and analysis are based on the type of UAV, with the availability of several control techniques that could be used to improve the flight of the UAV in order to avoid obstacles and potential collisions, as well as find the shortest path to save the battery life with the support of optimization techniques. However, UAVs face several challenges in order to fly smoothly, including collision avoidance, battery life, and intruders. This review paper presents UAVs’ classification, control applications, and future directions in industry and research interest. For the design process, fabrication, and analysis, various control approaches are discussed in detail. Furthermore, the challenges for UAVs, including battery charging, collision avoidance, and security, are also presented and discussed.

scholarly journals Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles

Actuators ◽  
2018 ◽  
Vol 8 (1) ◽  
pp. 1 ◽  
Author(s):  
Sunan Huang ◽  
Rodney Swee Huat Teo ◽  
Wenqi Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Case Studies ◽  
Collision Avoidance ◽  
Hardware In The Loop ◽  
Crucial Issue ◽  
Communication Failure ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Velocity Obstacle ◽  
Multi Uav

It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method.

scholarly journals Observing river stages using unmanned aerial vehicles

2016 ◽  
Author(s):  
Tomasz Niedzielski ◽  
Matylda Witek ◽  
Waldemar Spallek
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Water Surface ◽  
Water Levels ◽  
Hydrodynamic Models ◽  
Surface Areas ◽  
Aerial Vehicles ◽  
Potential Applications ◽  
Sw Poland ◽  
High Flows ◽  
Student’S T

Abstract. We elaborated a new method for observing water surface areas and river stages using unmanned aerial vehicles (UAVs). It is based on processing multitemporal m orthophotomaps produced from the UAV-taken visual-light photographs of n sites of the river, acquired with a sufficient overlap in each part. Water surface areas are calculated in the first place, and subsequently expressed as fractions of total areas of water-covered terrain at a given site of the river recorded on m dates. The logarithms of the fractions are later calculated, producing m samples of size n. In order to detect statistically significant increments of water surface areas between two orthophotomaps we apply the asymptotic and bootstrapped versions of the Student's t-test, preceded by other tests that aim to check model assumptions. The procedure is applied to five orthophotomaps covering nine sites of the Ścinawka river (SW Poland). The data have been acquired during the experimental campaign, at which flight settings were kept unchanged over nearly 3 years (2012–2014). We have found that it is possible to detect transitions between water surface areas produced by all characteristic water levels (low, mean, intermediate and high stages). In addition, we infer that the identified transitions hold for characteristic river stages as well. In the experiment we detected all increments of water level: (1) from low stages to: mean, intermediate and high stages; (2) from mean stages to: intermediate and high stages; (3) from intermediate stages to high stages. Potential applications of the elaborated method include verification of hydrodynamic models and the associated predictions of high flows using on-demand UAV flights performed in near real-time as well as monitoring water levels of rivers in ungauged basins.

The Use of Unmanned Aerial Vehicles

2021 ◽  
pp. 810-826
Author(s):  
Aleksandar Erceg ◽  
Zafer Kilic
Keyword(s):  
Research And Development ◽  
Unmanned Aerial Vehicles ◽  
Economic Impact ◽  
Industrial Sectors ◽  
Aerial Vehicles ◽  
Different Types ◽  
Potential Applications ◽  
Production Cycles ◽  
New Jobs ◽  
The Way

Unmanned aerial vehicles (UAVs) are present in our lives, and although they are mostly connected to military purposes, they are becoming more present in the commercial and civilian sector. Possible applications of UAVs in the commercial and civilian sector will open new possibilities for further research and development of UAVs. This movement can bring new investment and new jobs, but at the same time, it will influence the way some activities are being done now. The use of UAVs brings savings in the production cycles and improve current operations in various industrial sectors. The chapter gives a definition and explains different types and potential applications of unmanned aerial vehicles in the word as well as the potential economic impact of their development and use. In the second part, the chapter analyzes the application of drones in Turkey and Croatia. Although different in terms of their size and the number of inhabitants, both countries are at the same level in relation to UAV application. Applications in both countries are compared, and after that, a conclusion is drawn.

Design and flight-stability analysis of a closed fixed-wing unmanned aerial vehicle formation controller

2018 ◽  
Vol 233 (8) ◽  
pp. 1045-1054 ◽  
Author(s):  
Jialong Zhang ◽  
Bing Xiao ◽  
Maolong Lv ◽  
Qiang Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
High Speed ◽  
Physical Simulation ◽  
Controller Design ◽  
Formation Flight ◽  
External Factors ◽  
Flight Stability ◽  
Aerial Vehicles ◽  
Closed Formation

This article addresses a flight-stability problem for the multiple unmanned aerial vehicles cooperative formation flight in the process of the closed and high-speed flight. The main objective is to design a cooperative formation controller with known external factors, and this controller can keep the consensus of attitude and position and reduce the communication delay between any two unmanned aerial vehicles and increase unmanned aerial vehicles formation cruise time under the known external factors. Known external factors are taken into consideration, and longitude maneuvers using nonlinear thrust vectors were employed with unsteady aerodynamic models, according to the attitude and position of unmanned aerial vehicles, which were employed as corresponding input signals for studying the dynamic characteristics of unmanned aerial vehicles formation flight. In addition, the relative distance between any two unmanned aerial vehicles was not allowed to exceed their safe distance so that the controller could perform collision avoidance. An analysis of formation flight distance error shows that it converged to a fixed value that well ensured unmanned aerial vehicles formation flight stability. The experimental results show that the controller can improve the speed of a closed formation effectively and maintain the stability of formation flight, which provides a method for closed formation flight controller design and collision avoidance for any two unmanned aerial vehicles. Meanwhile, the effectiveness of proposed controller is fully proved by semi-physical simulation platform.

Optimized artificial potential field algorithm to multi-unmanned aerial vehicle coordinated trajectory planning and collision avoidance in three-dimensional environment

2019 ◽  
Vol 233 (16) ◽  
pp. 6032-6043 ◽  
Author(s):  
Jun Tang ◽  
Jiayi Sun ◽  
Cong Lu ◽  
Songyang Lao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Potential Field ◽  
Three Dimensional ◽  
Artificial Potential Field ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Vehicle Trajectory

Multi-unmanned aerial vehicle trajectory planning is one of the most complex global optimum problems in multi-unmanned aerial vehicle coordinated control. Results of recent research works on trajectory planning reveal persisting theoretical and practical problems. To mitigate them, this paper proposes a novel optimized artificial potential field algorithm for multi-unmanned aerial vehicle operations in a three-dimensional dynamic space. For all purposes, this study considers the unmanned aerial vehicles and obstacles as spheres and cylinders with negative electricity, respectively, while the targets are considered spheres with positive electricity. However, the conventional artificial potential field algorithm is restricted to a single unmanned aerial vehicle trajectory planning in two-dimensional space and usually fails to ensure collision avoidance. To deal with this challenge, we propose a method with a distance factor and jump strategy to resolve common problems such as unreachable targets and ensure that the unmanned aerial vehicle does not collide into the obstacles. The method takes companion unmanned aerial vehicles as the dynamic obstacles to realize collaborative trajectory planning. Besides, the method solves jitter problems using the dynamic step adjustment method and climb strategy. It is validated in quantitative test simulation models and reasonable results are generated for a three-dimensional simulated urban environment.

Sign in / Sign up

Export Citation Format

Share Document