A Collision Cone Based Time-Efficient Method for Aerial Collision Avoidance

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Copyright: Gnanasekera, Manaram
Unmanned aerial vehicles (UAV) usage is constantly on the increase. Future skies have a risk of being congested with busy UAVs assisting humans in many different ways. Such congestion could lead to aerial collisions. To avoid disastrous situations, potential for aerial collisions should be addressed. Avoiding aerial collisions has been reported in various different ways in the literature. Out of all the ways available in the literature, collision cones have the ability to predict a future collision beforehand with a low computational burden. Many variants of the collision cone approach have been proposed for various different collision avoidance tasks in past research. However, avoiding a collision will have an effect on the total mission time. In spite of the large volume of past work, time-efficient collision avoidance has not been examined extensively in collision cone literature. This research presents methodologies to avoid aerial collisions in a time-efficient manner using the collision cone approach. The research in this thesis has considered all possible scenarios including heading change and speed change, to avoid a collision. The heading based method was mathematically proven to be time-efficient than the other methods. Initially, 2D collision avoidance methodologies are presented; however, in extreme cases, 3D collision avoidance is necessary and 2D methods have been extended to address 3D collisions. The proposed heading based method was compared with other works presented in the literature and validated with both simulations and experiments. A Matrice 600 Pro hexacopter is used for the collision avoidance experiments.
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PhD Doctorate
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