This paper presents a novel approach for cooperative drone avoidance trajectory planning based on the steering geometry model. Drones often encounter complex scenarios during flight, increasing the risk of collision with obstacles and subsequent damage. This study, demonstrates the existence of a unique shortest path among any number of flight paths between drone stations. Building upon the shortest path, considering the flight rates of drones A and B, along with the constraint of non-intersection, the priority of drone B reaching the target station is established. As drone A departs from the station, it rotates with a radius of 30 m for 12 cycles, ensuring that the two drones do not collide. Subsequently, by establishing the geometric relationship between the tangent of two steering circles and the tangent line of the shortest path, an optimized steering model for drone B to depart towards the shortest path is developed. This enables multiple adjustments of the flight trajectory of drone B towards the shortest path. The resulting length of the flight path for drone B is 4728.983 m, with a minimum time of 472.8983 s.


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    Title :

    Unmanned Aerial Vehicle Collision Avoidance Trajectory Planning Based on Steering Geometry Model


    Contributors:
    Sun, Jingru (author) / Guo, Zengyang (author)


    Publication date :

    2024-08-26


    Size :

    814460 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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