상세정보
학술대회
Study on Geometry based Collision Avoidance for Formation Flight by Redefinition of Safe Radius
- 저자
- 우상균, 김정훈, 전지훈, 이동진
- 발행일
- 202112
- 출처
- International Conference on Robot Intelligence Technology and Applications (RITA) 2021 (LNNS 429), v.429, pp.44-52
- 협약과제
- 21ZR1100, 자율적으로 연결·제어·진화하는 초연결 지능화 기술 연구, 박준희
- 초록
- In this paper, collision avoidance algorithm in a formation flight of multiple UAVs is investigated. The guidance algorithm of the leader-follower concept and the CPA (Closest Point of Approach)-based collision avoidance algorithm for the formation is employed. When the UAVs encounters obstacles during formation flight, if the leader uses the CPA-based collision avoidance algorithm applicable to a single UAV, the safety of the UAVs composing the formation cannot be guaranteed. It is necessary to redefine the safety radius for the entire UAVs in the formation to safely perform collision avoidance. To verify the collision avoidance algorithm by redefining the proposed safety radius, a flight experiments were performed using a PX4-based multicopter.
- KSP 제안 키워드
- Collision avoidance algorithm, Formation flight, Guidance algorithm, Leader-Follower, Multiple UAVs, flight experiments