UAV "See and Avoid" with Nonlinear Filtering and Non-Cooperative Avoidance

H. Voos (Germany)


unmanned aerial vehicles, see and avoid, nonlinear filter ing, collision avoidance


This paper describes a see and avoid system for unmanned aerial vehicles (UAVs). In order to obtain an affordable solution, only optical camera systems are used as sensors. The main drawback of pure passive optical solutions so far is the fact that important variables like the range and the velocity of the other vehicles can not be measured. For that purpose, a nonlinear estimation filter is developed here based on a dynamic model of the engagement scenario and available measurements. Herein, the nonlinear filter is based upon a factorization of the dynamic scenario model. With the help of the estimated variables, a rule-based non cooperative avoidance strategy is applied to complete the see and avoid system.

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