Aerospace and Electronic Systems Magazine September 2016 - 48
An Advanced Sense and Collision Avoidance Strategy for Unmanned Aerial Vehicles in Landing Phase
Figure 7.
Figure 8.
The UAV-intruders collision avoidance scenario.
C
Habitat size: n = 30;
C
Maximal generation count: Tmax = 500;
C
Number of species in each habitat: k = 20;
C
Maximum mutation probability: mmax = 0.005;
C
Maximum immigration rate: I = 1;
C
Maximum emigration rate: E = 1; and
C
Elitism parameter: D = 2.
Actual trajectory of UAV in collision avoidance scenario.
Figure 9.
PERFORMANCE ANALYSIS
UAV output responses in following reference pitch angle scenario.
Trajectory Generation for SAA
Figure 7 demonstrates that the scenario in which potential threats
are detected, the UAV in the landing phase turns to adjust the attitude to avoid collisions, following a feasible trajectory produced
by the BBO-based algorithm. During the landing period, the collision detection algorithm is employed to determine when and where
the collisions will occur. According to the currently predicted conflict position, BBO is carried out to produce an optimal solution
by migration and mutation of each generation. The purple line in
Figure 7 illustrates that the UAV successfully avoids three coming intruders and climbs to the pattern altitude to wait for instructions from the control tower for landing again. Figure 8 presents
the actual trajectory of UAV in longitudinal plane. Since no threat
is detected before x position of 14,000 m, the trajectory performing
regular landing in this period is smooth. As the UAV continues to
fly east, it switches to collision avoidance mode and finally arrives
at the required altitude.
Figure 10.
Elevator angle and throttle angle responses in following reference pitch
angle scenario.
Path Following Performance
C
48
Result for following the reference pitch angle in landing
phase: The results for this scenario are shown in Figure 9
and Figure 10. Figure 9a is the response of the pitch angle.
The measured pitch angle can track the reference one, which
indicates that the inner-loop controller can handle the variation of the pitch angle without overshoot. Figures 9b, 9c,
9d indicate that the velocity, altitude, and flight path angle
do not break the limits. Under supervision of the inner-loop
controller, the elevator deflection and throttle angle exhib-
Figure 11.
UAV output responses in following reference altitude scenario.
IEEE A&E SYSTEMS MAGAZINE
SEPTEMBER 2016
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