A novel approach to collision and obstacle avoidance in fixed-wing unmanned aerial systems with high speed and high inertia was developed by reformulating classical artificial potential field navigational approaches. Classical artificial potential field navigation is a formidable approach to collision avoidance for slow and small robots including rotary-wing UASs, however they lack robustness and adaptability for large fixed-wing aircraft flying in close proximity or congested areas. As part of a concept demonstration, this work presents the validation and verification of morphing potential collision avoidance using large unmanned aerial systems flying at 60 ft/sec. The morphing potential function was constrained by the aircraft's six-degree-of-freedom dynamic characteristics and maximum allowable bank angle. A virtual time-varying waypoint is used to navigate the aircraft in a dynamically changing environment. The validation flight tests were successfully conducted and real-time avoidance capabilities were demonstrated.


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    Titel :

    Flight Test Validation of Collision and Obstacle Avoidance in Fixed-Wing UASs with High Speeds Using Morphing Potential Field


    Beteiligte:
    Keshmiri, Shawn (Autor:in) / Kim, A Ram (Autor:in) / Shukla, Daksh (Autor:in) / Blevins, Aaron (Autor:in) / Ewing, Mark (Autor:in)


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    3545961 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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