Collision Avoidance based on CPA algorithm using Relative Distance and Azimuth of Radar for Unmanned Aerial Vehicles
Hyeji Kim, Cheonman Park, Seongbong Lee, Dongjin Lee · 2021 21st International Conference on Control, Automation and Systems (ICCAS) · 2021
In this paper, we propose an obstacle states estimation algorithm based on radar and a collision avoidance algorithm based on closest point of approach(CPA) for unmanned aerial vehicles(UAVs), in order to avoid collision with the obstacle that do not provide information. We estimated position of detected objects using radar and compared current position and previous position for matching objects and removing outliers. Among the detected objects, the obstacle was selected the object with the highest risk of collision. The CPA was calculated using estimated states of the UAV and the obstacle. Based on the CPA, we detected collision and generated the velocity command for collision avoidance. The performance of proposed algorithm of states estimation of obstacle, collision detection and avoidance was verified through the flight tests.