UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization

Chang Liu; Honglun Wang; Peng Yao

doi:10.1109/CGNCC.2016.7829140

UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization

Chang Liu
, Honglun Wang
, Peng Yao

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, we propose a hybrid 3D collision avoidance approach based on improved interfered fluid dynamical system (IFDS) and rolling optimization. First, a collision avoidance decision making mechanism based on our previously proposed dynamic collision regions is introduced. Then a path re-planning method based on improved IFDS and rolling optimization is proposed. Rolling optimization is used to optimal the influence coefficients of IFDS with the UAV performance constraint. Finally a UAV three-dimensional re-planning path can be obtained. Simulation results indicate that the proposed method could choose appropriate collision avoidance time and maneuver flight mode, and plans a smooth collision avoidance path in the case of single and multiple intruders.

Original language	English
Title of host publication	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2238-2243
Number of pages	6
ISBN (Electronic)	9781467383189
DOIs	https://doi.org/10.1109/CGNCC.2016.7829140
State	Published - 20 Jan 2017
Event	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 - Nanjing, Jiangsu, China Duration: 12 Aug 2016 → 14 Aug 2016

Publication series

Name	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

Conference

Conference	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Country/Territory	China
City	Nanjing, Jiangsu
Period	12/08/16 → 14/08/16

Access to Document

10.1109/CGNCC.2016.7829140

Cite this

Liu, C., Wang, H., & Yao, P. (2017). UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference (pp. 2238-2243). Article 7829140 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2016.7829140

Liu, Chang ; Wang, Honglun ; Yao, Peng. / UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization. CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 2238-2243 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference).

@inproceedings{07cd1435bef44134ae4964e6b858f466,

title = "UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization",

abstract = "In this paper, we propose a hybrid 3D collision avoidance approach based on improved interfered fluid dynamical system (IFDS) and rolling optimization. First, a collision avoidance decision making mechanism based on our previously proposed dynamic collision regions is introduced. Then a path re-planning method based on improved IFDS and rolling optimization is proposed. Rolling optimization is used to optimal the influence coefficients of IFDS with the UAV performance constraint. Finally a UAV three-dimensional re-planning path can be obtained. Simulation results indicate that the proposed method could choose appropriate collision avoidance time and maneuver flight mode, and plans a smooth collision avoidance path in the case of single and multiple intruders.",

author = "Chang Liu and Honglun Wang and Peng Yao",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 ; Conference date: 12-08-2016 Through 14-08-2016",

year = "2017",

month = jan,

day = "20",

doi = "10.1109/CGNCC.2016.7829140",

language = "英语",

series = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2238--2243",

booktitle = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",

address = "美国",

}

Liu, C, Wang, H & Yao, P 2017, UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization. in CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference., 7829140, CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 2238-2243, 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016, Nanjing, Jiangsu, China, 12/08/16. https://doi.org/10.1109/CGNCC.2016.7829140

UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization. / Liu, Chang; Wang, Honglun; Yao, Peng.
CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2238-2243 7829140 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization

AU - Liu, Chang

AU - Wang, Honglun

AU - Yao, Peng

PY - 2017/1/20

Y1 - 2017/1/20

N2 - In this paper, we propose a hybrid 3D collision avoidance approach based on improved interfered fluid dynamical system (IFDS) and rolling optimization. First, a collision avoidance decision making mechanism based on our previously proposed dynamic collision regions is introduced. Then a path re-planning method based on improved IFDS and rolling optimization is proposed. Rolling optimization is used to optimal the influence coefficients of IFDS with the UAV performance constraint. Finally a UAV three-dimensional re-planning path can be obtained. Simulation results indicate that the proposed method could choose appropriate collision avoidance time and maneuver flight mode, and plans a smooth collision avoidance path in the case of single and multiple intruders.

AB - In this paper, we propose a hybrid 3D collision avoidance approach based on improved interfered fluid dynamical system (IFDS) and rolling optimization. First, a collision avoidance decision making mechanism based on our previously proposed dynamic collision regions is introduced. Then a path re-planning method based on improved IFDS and rolling optimization is proposed. Rolling optimization is used to optimal the influence coefficients of IFDS with the UAV performance constraint. Finally a UAV three-dimensional re-planning path can be obtained. Simulation results indicate that the proposed method could choose appropriate collision avoidance time and maneuver flight mode, and plans a smooth collision avoidance path in the case of single and multiple intruders.

UR - https://www.scopus.com/pages/publications/85015170091

U2 - 10.1109/CGNCC.2016.7829140

DO - 10.1109/CGNCC.2016.7829140

M3 - 会议稿件

AN - SCOPUS:85015170091

T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

SP - 2238

EP - 2243

BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016

Y2 - 12 August 2016 through 14 August 2016

ER -

Liu C, Wang H, Yao P. UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc. 2017. p. 2238-2243. 7829140. (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). doi: 10.1109/CGNCC.2016.7829140

UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization

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