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UAV conflict detection and resolution using probabilistic approach
conference contribution
posted on 2015-06-15, 12:34 authored by Hd Oh, Jung-Woo Park, Min-Jea TahkThis paper presents a real-time conflict detection and resolution algorithm based on a probabilistic method. It is assumed
that aircraft are linked by real time data link like ADS-B. The approach uses a set of probability density functions that describe
uncertainties from ADS-B. To calculate the probability of conflict, we use probabilistic method by using Monte Carlo simulations.
Monte Carlo simulations are often thought of as too slow for real-time usage. However, in this paper, we use geometric based Monte
Carlo simulations which allow for reducing computation time considerably. From the probability of conflict obtained, ‘Threat Level’
is determined between two aircraft, then, one of possible resolution maneuver options is chosen to minimize the probability of
conflict. Resolution maneuver chosen as three-axis acceleration commands is added to the current acceleration and transformed into
the control inputs. While the probability of conflict is in threat level zero, own aircraft is guided to the way-point. For guidance to
the waypoint, proportional navigation guidance law is used. The paper finishes with several multiple-aircraft encounter simulations,
illustrating the performance and properties of the proposed algorithm.
Funding
This study has been supported by Ministry of Knowledge Economy under Smart UAV development project.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering