Potential field based inter-UAV collision avoidance using virtual target relocation

Abeywickrama, HV; Jayawickrama, BA; He, Y; Dutkiewicz, E

Potential field based inter-UAV collision avoidance using virtual target relocation

Abeywickrama, HV Jayawickrama, BA He, Y

Dutkiewicz, E

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Publication Type:: Conference Proceeding
Citation:: IEEE Vehicular Technology Conference, 2018, 2018-June pp. 1 - 5
Issue Date:: 2018-07-20

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Field	Value	Language
dc.contributor.author	Abeywickrama, HV	en_US
dc.contributor.author	Jayawickrama, BA	en_US
dc.contributor.author	He, Y https://orcid.org/0000-0003-1603-9375	en_US
dc.contributor.author	Dutkiewicz, E https://orcid.org/0000-0002-4268-9286	en_US
dc.date.issued	2018-07-20	en_US
dc.identifier.citation	IEEE Vehicular Technology Conference, 2018, 2018-June pp. 1 - 5	en_US
dc.identifier.isbn	9781538663554	en_US
dc.identifier.issn	1550-2252	en_US
dc.identifier.uri	http://hdl.handle.net/10453/133897
dc.description.abstract	© 2018 IEEE. Unmanned Aerial Vehicles (UAV) are becoming popular in a range of areas. This has given rise to the concept of UAV swarms, where multiple UAVs act together to achieve a common task. With multiple UAVs flying in close proximity to each other, sharing the same airspace, the risk of inter-UAV collisions increases. It's important to avoid these collisions while having minimal impact on the UAV system. We propose a novel Potential Field Method (PFM) based algorithm for inter-UAV collision avoidance which considerably reduces the total time taken by the UAV system to achieve its goal. We control the collision avoidance actions of the UAVs by virtually relocating their targets. The positions of the virtual targets are calculated to minimize the collision probability, based on a probability function we introduced. The proposed algorithm reduces the total system time approximately by 20\% as opposed to the traditional PFM.	en_US
dc.relation.ispartof	IEEE Vehicular Technology Conference	en_US
dc.relation.isbasedon	10.1109/VTCSpring.2018.8417773	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Potential field based inter-UAV collision avoidance using virtual target relocation	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2018-June	en_US
utslib.for	0805 Distributed Computing	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - GBDTC - Global Big Data Technologies
utslib.copyright.status	closed_access	*
pubs.publication-status	Published	en_US
pubs.volume	2018-June	en_US

Abstract:

© 2018 IEEE. Unmanned Aerial Vehicles (UAV) are becoming popular in a range of areas. This has given rise to the concept of UAV swarms, where multiple UAVs act together to achieve a common task. With multiple UAVs flying in close proximity to each other, sharing the same airspace, the risk of inter-UAV collisions increases. It's important to avoid these collisions while having minimal impact on the UAV system. We propose a novel Potential Field Method (PFM) based algorithm for inter-UAV collision avoidance which considerably reduces the total time taken by the UAV system to achieve its goal. We control the collision avoidance actions of the UAVs by virtually relocating their targets. The positions of the virtual targets are calculated to minimize the collision probability, based on a probability function we introduced. The proposed algorithm reduces the total system time approximately by 20\% as opposed to the traditional PFM.

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http://hdl.handle.net/10453/133897