Geometric Avoidance Algorithm With Constraints in Relative Domain for Fixed Wing Unmanned Aerial Vehicles Mission

Abstract

Traditional collision avoidance algorithms and path planning algorithms, such as A* rapidly-exploring random tree (RRT), or artificial potential field, do not consider the dynamical constraints of the vehicle, so it makes the vehicles sometimes cannot track the generated trajectory or control set-point. Therefore, a geometric avoidance algorithm considering velocity and yaw rate constraints of fixed-wing unmanned areal vehicle (UAV) is studied and constrained geometric avoidance (CGA) algorithm is proposed. It allows the UAVs to avoid neighbor UAVs with keeping distance efficiently. The proposed algorithm is proved by simulation with autopilot system of UAV.