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Optimization-based safety analysis of obstacle avoidance systems for unmanned aerial vehicles

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journal contribution
posted on 07.12.2012, 14:33 by Sivaranjini Srikanthakumar, Cunjia LiuCunjia Liu, Wen-Hua ChenWen-Hua Chen
The integration of Unmanned Aerial Vehicles (UAVs) in airspace requires new methods to certify collision avoidance systems. This paper presents a safety clearance process for obstacle avoidance systems, where worst case analysis is performed using simulation based optimization in the presence of all possible parameter variations. The clearance criterion for the UAV obstacle avoidance system is defined as the minimum distance from the aircraft to the obstacle during the collision avoidance maneuver. Local and global optimization based verification processes are developed to automatically search the worst combinations of the parameters and the worst-case distance between the UAV and an obstacle under all possible variations and uncertainties. Based on a 6 Degree of Freedom (6DoF) kinematic and dynamic model of a UAV, the path planning and collision avoidance algorithms are developed in 3D space. The artificial potential field method is chosen as a path planning and obstacle avoidance candidate technique for verification study as it is a simple and widely used method. Different optimization algorithms are applied and compared in terms of the reliability and efficiency.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Volume

65

Issue

1-4

Pages

219-231

Citation

SRIKANTHAKUMAR, S., LIU, C. and CHEN, W-H, 2012. Optimization-based safety analysis of obstacle avoidance systems for unmanned aerial vehicles. Journal of Intelligent and Robotic Systems, 65 (1-4), pp. 219 - 231

Publisher

© Springer Science+Business Media B.V.

Version

AM (Accepted Manuscript)

Acceptance date

18/04/2011

Publication date

2012

Copyright date

2011

Notes

This article was published in the Journal of Intelligent and Robotic Systems [© Springer Science+Business Media B.V.]. The definitive version is available at: http://link.springer.com/article/10.1007/s10846-011-9586-0?LI=true#. The original publication is available at www.springerlink.com.

ISSN

0921-0296

eISSN

1573-0409

Language

en