Proportional Navigation-Based Optimal Collision Avoidance for UAVs

Abstract

optimal collision avoidance algorithm for unmanned aerial vehicles based on proportional navigation guidancelaw is investigated in this paper. Although proportional navigation guidance law is widely used in missile guidanceproblems, it can be used in collision avoidance problem by guiding the relative velocity vector to collisionavoidance vector. The optimal navigation coefcient can be obtained if obstacle moves with constant velocityvector. The convergence of proposed algorithm is also studied. The convergence can be obtained by choosing theproper navigation coefficient.