TY - JOUR
T1 - Three-Dimensional Velocity Obstacle Method for Uncoordinated Avoidance Maneuvers of Unmanned Aerial Vehicles
AU - Jenie, Yazdi
AU - van Kampen, EJ
AU - de Visser, CC
AU - Ellerbroek, J
AU - Hoekstra, JM
N1 - harvest
AIAA 2016-1629
PY - 2016
Y1 - 2016
N2 - This paper proposes a novel avoidance method called the three-dimensional velocity obstacle method. The method is designed for unmanned aerial vehicle applications, in particular to autonomously handle uncoordinated multiple encounters in an integrated airspace, by exploiting the limited space in a three-dimensional manner. The method is a three-dimensional extension of the velocity obstacle method that can reactively generate an avoidance maneuver by changing the vehicle velocity vector based on the encounter geometry. Adverse maneuvers of the obstacle are anticipated by introducing the concept of a buffer velocity set, which ensures that the ownship will diverge with sufficient space in case of sudden imminence. A three-dimensional resolution is generated by choosing the right plane for avoidance, in which the unmanned aerial vehicle conducts a pure turning maneuver. Implementation of the three-dimensional velocity obstacle method is tested in several simulations that demonstrate its capability to resolve various three-dimensional conflicts. A validation using Monte Carlo simulations is also conducted in stressful superconflict scenarios, which results in zero collisions occurrences for the entire 25,000 samples.
AB - This paper proposes a novel avoidance method called the three-dimensional velocity obstacle method. The method is designed for unmanned aerial vehicle applications, in particular to autonomously handle uncoordinated multiple encounters in an integrated airspace, by exploiting the limited space in a three-dimensional manner. The method is a three-dimensional extension of the velocity obstacle method that can reactively generate an avoidance maneuver by changing the vehicle velocity vector based on the encounter geometry. Adverse maneuvers of the obstacle are anticipated by introducing the concept of a buffer velocity set, which ensures that the ownship will diverge with sufficient space in case of sudden imminence. A three-dimensional resolution is generated by choosing the right plane for avoidance, in which the unmanned aerial vehicle conducts a pure turning maneuver. Implementation of the three-dimensional velocity obstacle method is tested in several simulations that demonstrate its capability to resolve various three-dimensional conflicts. A validation using Monte Carlo simulations is also conducted in stressful superconflict scenarios, which results in zero collisions occurrences for the entire 25,000 samples.
UR - http://resolver.tudelft.nl/uuid:5620bc41-0537-48c3-80da-85a426d7a674
U2 - 10.2514/1.G001715
DO - 10.2514/1.G001715
M3 - Article
SN - 0731-5090
VL - 39
SP - 2312
EP - 2323
JO - Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control
JF - Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control
IS - 10
T2 - AIAA Guidance, Navigation, and Control Conference, 2016
Y2 - 4 January 2016 through 8 January 2016
ER -