Proportional Navigation-Based Collision Avoidance for UAVs

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A collision avoidance algorithm for unmanned aerial vehicles (UAVs) based on the conventional proportional navigation (PN) guidance law is investigated. The proportional navigation guidance law being applied to a wide range of missile guidance problems is tailored to the collision avoidance of UAVs. This call be accomplished by guiding the relative velocity vector of the aircraft to a vector connecting the current aircraft position to the safety boundary of the target aircraft. Stability of the proposed algorithm is also studied using the circle criterion. The stability condition can be established by choosing the navigation coefficient within a certain bound. The guidance law is extended to 3-dimensional maneuver problems. Inherent simplicity and robustness of the PN guidance law provides satisfactory collision avoidance performance with different initial conditions.
Publisher
INST CONTROL ROBOTICS & SYSTEMS
Issue Date
2009-08
Language
English
Article Type
Article
Keywords

QUADRATIC LYAPUNOV FUNCTIONS; STATE-SPACE SYSTEMS; CIRCLE CRITERION; PROOF

Citation

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.7, no.4, pp.553 - 565

ISSN
1598-6446
DOI
10.1007/s12555-009-0407-1
URI
http://hdl.handle.net/10203/99597
Appears in Collection
AE-Journal Papers(저널논문)
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