A survey of collision avoidance approaches for unmanned aerial vehicles

The ability to integrate unmanned and manned aircraft into airspace is a critical capability that will enable growth in wide varieties of applications. Collision avoidance is a key enabler for the integration of manned and unmanned missions in civil and military operation theaters. Large efforts have been done to address collision avoidance problem to both manned and unmanned aircraft. However, there has been little comparative discussion of the proposed approaches. This paper presents a survey of the collision avoidance approaches those deployed for aircraft, especially for unmanned aerial vehicles. The collision avoidance concept is introduced together with proposing generic functions carried by collision avoidance systems. The design factors of the sense and avoid system, which are used to categorize methods, are explained deeply. Based on the design factors, several typical approaches are categorized.

[1]  Robert F. Stengel,et al.  Optimization and coordination of multi-agent systems using principled negotiation , 1996 .

[2]  K. Zeghal.  A REVIEW OF DIFFERENT APPROACHES BASED ON FORCE FIELDS FOR AIRBORNE CONFLICT RESOLUTION , 1998 .

[3]  James K. Archibald,et al.  A cooperative multi-agent approach to free flight , 2005, AAMAS '05.

[4]  Debasish Ghose,et al.  Obstacle avoidance in a dynamic environment: a collision cone approach , 1998, IEEE Trans. Syst. Man Cybern. Part A.

[5]  R. Olfati-Saber,et al.  Collision avoidance for multiple agent systems , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[6]  R. L. Ford,et al.  A new threat detection criterion for airborne collision avoidance systems , 1990 .

[7]  Ran Y. Gazit,et al.  Aircraft surveillance and collision avoidance using gps , 1996 .

[8]  Jen-Hui Chuang.  Potential-based modeling of three-dimensional workspace for obstacle avoidance , 1998, IEEE Trans. Robotics Autom..

[9]  Daniel E. Koditschek,et al.  Exact robot navigation using artificial potential functions , 1992, IEEE Trans. Robotics Autom..

[10]  Moriyuki Mizumachi,et al.  Aircraft collision avoidance with potential gradient—ground-based avoidance for horizontal maneuvers , 1995 .

[11]  Pradeep K. Khosla,et al.  Real-time obstacle avoidance using harmonic potential functions , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[12]  Min Young Cho,et al.  Minimum stopping distance for linear control of an automatic car-following system , 1996 .

[13]  Yukito Iijima,et al.  Results of Collision Avoidance Manoeuvre Experiments Using a Knowledge-Based Autonomous Piloting System , 1991 .

[14]  James K. Kuchar,et al.  A review of conflict detection and resolution modeling methods , 2000, IEEE Trans. Intell. Transp. Syst..

[15]  James K. Kuchar,et al.  Survey of conflict detection and resolution modeling methods , 1997 .

[16]  S. Shankar Sastry,et al.  Conflict resolution for air traffic management: a study in multiagent hybrid systems , 1998, IEEE Trans. Autom. Control..

[17]  Paul Y. Oh.  Flying insect inspired vision for micro-air-vehicle navigation , 2004 .

[18]  Thomas R. Ioerger,et al.  Automated Conflict Resolution for Air Trac Management Using Cooperative Multiagent Negotiation , 2004 .

[19]  Mark Peters,et al.  Conflict Detection and Resolution for Future Air Transportation Management , 1997 .

[20]  Colin R. McInnes,et al.  Autonomous control for on-orbit assembly using potential function methods , 1997 .

[21]  H. Erzberger,et al.  Design of a conflict detection algorithm for the Center/TRACON automation system , 1997, 16th DASC. AIAA/IEEE Digital Avionics Systems Conference. Reflections to the Future. Proceedings.

[22]  A. W. Merz.  Maximum-miss aircraft collision avoidance , 1991 .

[23]  M. Pechoucek,et al.  Negotiation-Based Approach to Unmanned Aerial Vehicles , 2006, IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications (DIS'06).

[24]  Wolfram Burgard,et al.  The dynamic window approach to collision avoidance , 1997, IEEE Robotics Autom. Mag..

[25]  Robert F. Stengel,et al.  Optimization and Coordination of Multiagent Systems Using Principled Negotiation , 1999 .

[26]  R. L. Ford,et al.  The Protected Volume of Airspace Generated by an Airborne Collision Avoidance System , 1986 .

[27]  K. S. Lindsay,et al.  Assessment of field trials, algorithmic performance, and benefits of the User Request Evaluation Tool (URET) conflict probe , 1997, 16th DASC. AIAA/IEEE Digital Avionics Systems Conference. Reflections to the Future. Proceedings.

[28]  F. Mora-Camino,et al.  Automatic collision avoidance based on supervised predictive controllers , 1996 .

[29]  Donald H. Taylor.  UNCERTAINTY IN COLLISION AVOIDANCE MANOEUVRING , 1990 .

[30]  Janis Vilcans,et al.  Beacon Multilateration to Facilitate ADS-B , 1997 .

[31]  K. L. Bowers.  Determining the feasibility of a flight profile in a Free Flight environment , 1996, 15th DASC. AIAA/IEEE Digital Avionics Systems Conference.

[32]  Young K. Kwag,et al.  UAV based collision avoidance radar sensor , 2007, 2007 IEEE International Geoscience and Remote Sensing Symposium.

[33]  Jiří Samek,et al.  AGENTFLY: Towards Multi-Agent Technology in Free Flight Air Traffic Control , 2007 .

[34]  J. Asmat,et al.  UAS Safety: Unmanned Aerial Collision Avoidance System (UCAS) , 2006, 2006 IEEE Systems and Information Engineering Design Symposium.

[35]  Jean-Arcady Meyer,et al.  A contribution to vision-based autonomous helicopter flight in urban environments , 2005, Robotics Auton. Syst..

[36]  J. Lygeros,et al.  A game theoretic approach to controller design for hybrid systems , 2000, Proceedings of the IEEE.

[37]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[38]  F. Coenen,et al.  Knowledge-based Collision Avoidance , 1989, Journal of Navigation.

[39]  J. Lee,et al.  Detecting near collisions for satellites , 1997, IEEE Transactions on Aerospace and Electronic Systems.

[40]  A. Warren.  Medium term conflict detection for free routing: operational concepts and requirements analysis , 1997, 16th DASC. AIAA/IEEE Digital Avionics Systems Conference. Reflections to the Future. Proceedings.

[41]  Kip Smith,et al.  An Index of Dynamic Density , 1998, Hum. Factors.

[42]  Robert Holdsworth.  Autonomous in-flight path planning to replace pure collision avoidance for free flight aircraft using automatic depedent surveillance broadcast , 2003 .

[43]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[44]  W. E. Kelly.  Conflict detection and alerting for separation assurance systems , 1999, Gateway to the New Millennium. 18th Digital Avionics Systems Conference. Proceedings (Cat. No.99CH37033).

[45]  Banavar Sridhar,et al.  Effects of conflict resolution maneuvers and traffic density on free flight , 1996 .

[46]  Peter Veelaert,et al.  Ultrasonic potential field sensor for obstacle avoidance , 1999, IEEE Trans. Robotics Autom..

[47]  Charles H. Scanlon,et al.  Proceedings of the NASA Workshop on Flight Deck Centered Parallel Runway Approaches in Instrument Meteorological Conditions , 1996 .