An Inverse Proportional Navigation Algorithm for Collision Avoidance among Multiple Unmanned Aerial Vehicles Technical Report #CSSE12-06
نویسندگان
چکیده
For missions involving multiple Unmanned Aerial Vehicles (UAVs), dependable collision avoidance techniques are necessary to ensure mission completion and UAV safety. In this paper, we outline and implement an algorithm to reduce collisions using Inverse Proportional Navigation (IPN). Our algorithm checks for imminent collisions and resolves them by increasing the Line Of Sight (LOS) rate between pairs of UAVs. To improve overall performance, we adjust our algorithm to handle troublesome special cases. Through the use of a simulator, we test our algorithm in various scenarios compare it to a basic implementation of IPN and a control. We conclude by discussing our results and opportunities for future research and improvement.
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