Collision Avoidance in OpenUxAS
Jacob English, Jay Paul Wilhelm · AIAA Scitech 2020 Forum · 2020
This paper presents an approach for evaluating collision avoidance performance for fixed-wing UAVs with AFRL’s autonomous vehicle software frame-work, OpenUxAS. Specific situations that provide airspace violations were tested to explore OpenUxAS’ response and capabilities. The process of detecting a potential aerial collision was considered by range. OpenUxAS was evaluated through simulated scenarios of direct, indirect, and following non-cooperative vehicles. Additional pathfinding algorithms were used to supplement OpenUxAS for conflict free paths using escape trajectories.