@inproceedings{d3a6bb64b19c4880994f3f0bbf19bb24,
title = "Uncertainty Region-Constrained Collision Avoidance for Cruise UAVs Under Wind Field Disturbance",
abstract = "This paper presents an Uncertainty Region-Constrained Collision Avoidance method for urban cruise UAVs operating under outdoor wind field disturbances. By considering the uncertainties in the positions of UAVs, nearby UAVs, and obstacles, the process constructs probabilistic safe regions for each UAV. Each UAV uses the Uncertainty Region-Constrained Control (URCC) approach to design its course within these zones guaranteeing the possibility of collision risk stays below a certain value. Integrating this method with a Model Predictive Control (MPC) framework, the suggested solution effectively handles the nonlinear dynamics of urban cruise UAVs, enhancing safety and efficiency in decentralized, communication-free environments. Experimental results demonstrate the method{\textquoteright}s robustness and practicality in complex urban settings.",
keywords = "Collision Avoidance, Probabilistic Uncertainty Models, Uncertainty Region-Constrained Control, Urban Cruise UAVs, Wind Field Disturbance",
author = "Haoli Peng and Zixuan Xu and Guixian Qu and Longbo Cheng and Haobing Pang and Ken Chen",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 2nd International Conference on SmartRail, Traffic and Transportation Engineering, ICSTTE 2024 ; Conference date: 25-10-2024 Through 27-10-2024",
year = "2025",
doi = "10.1007/978-981-96-7441-1\_15",
language = "英语",
isbn = "9789819674404",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "160--168",
editor = "Limin Jia and Yanhui Wang and Said Easa",
booktitle = "Advances and Applications in SmartRail, Traffic, and Transportation Engineering - Proceedings of 2024 2nd International Conference on SmartRail, Traffic and Transportation Engineering, ICSTTE 2024",
address = "德国",
}