ICUAS 2021 Paper Abstract

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McKinnis, Aaron (University of Kansas), Hauptman, Dustin Hauptman (University of Kansas), Keshmiri, Shawn (University of Kansas), Ewing, Mark (University of Kansas)

Flight Test Validation of Adaptive Collision Avoidance Algorithms Using Multiple Unmanned Aircraft

Scheduled for presentation during the Regular Session "See-and-avoid Systems" (FrC2), Friday, June 18, 2021, 14:20−14:40, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Reliability of UAS, See-and-avoid Systems, UAS Applications

Abstract

With the advent of the unmanned aerial systems (UAS) era, it is of grave importance that research be conducted into the reliable and safe operation of UAS in urban areas, where aircraft are flying over people and properties in spatially constrained environments. A large focus in recent years has been on adaptable collision avoidance systems, that are capable of avoiding fixed and moving obstacles in the modern day skyline. This paper presents flight test validation of an adaptive collision algorithm known as morphing potential field algorithm. The morphing potential field algorithm has been modified to allow implementation of more advanced guidance logics such as L2+ guidance. The aim is to validate the morphing collision avoidance path planning algorithm in a complex scenario, where multiple aircraft are, including two fixed-wing and two rotor-wing aircraft replicating obstacles. Aircraft were intentionally put in collision course with each other and obstacles. Validation flight test were successfully conducted to assess performance of morphing potential field navigation algorithms and also to quantify the impact of possible communication delays on the safety of collision avoidance methods for high speed and high inertia aircraft.

 

 

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