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Dissertations / Theses on the topic 'UAV collision avoidance'

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Published: 6 September 2023

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1

Patel, Amir. "UAV collision avoidance: a specific acceleration matching approach." Master's thesis, University of Cape Town, 2011. http://hdl.handle.net/11427/11582.

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Includes abstract.<br>Includes bibliographical references.<br>An increased level of autonomy is required for future Unmanned Aerial Vehicle (UAV) missions. One of the technologies required for this to occur is an adequate sense and avoid system to enable the UAV to detect threat aircraft and take evasive action if required. This thesis investigates a collision avoidance system to satisfy a significant portion of the requirements for sense and avoid. It was hypothesised that a recently published method of UAV guidance, Specific Acceleration Matching (SAM) Control, could address the shortcomings

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2

Lee, Hua. "High-Precision Geolocation Algorithms for UAV and UUV Applications in Navigation and Collision Avoidance." International Foundation for Telemetering, 2008. http://hdl.handle.net/10150/606155.

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ITC/USA 2008 Conference Proceedings / The Forty-Fourth Annual International Telemetering Conference and Technical Exhibition / October 27-30, 2008 / Town and Country Resort & Convention Center, San Diego, California<br>UUV homing and docking and UAV collision avoidance are two seemingly separate research topics for different applications. Upon close examination, these two are a pair of dual problems, with interesting correspondences and commonality. In this paper, we present the theoretical analysis, signal processing, and the field experiments of these two algorithms in UAV and UUV applicatio

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3

Brandt, Adam M. "Haptic Collision Avoidance for a Remotely Operated Quadrotor UAV in Indoor Environments." Diss., CLICK HERE for online access, 2009. http://contentdm.lib.byu.edu/ETD/image/etd3177.pdf.

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4

Jaroń, Piotr, and Mateusz Kucharczyk. "Vision System Prototype for UAV Positioning and Sparse Obstacle Detection." Thesis, Blekinge Tekniska Högskola, Sektionen för ingenjörsvetenskap, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-4663.

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For the last few years computer vision due to its low exploitation cost and great capabilities has been experiencing rapid growth. One of the research fields that benefits from it the most is the aircrafts positioning and collision avoidance. Light cameras with low energy consumption are an ideal solution for UAVs (Unmanned Aerial Vehicles) navigation systems. With the new Swedish law – unique to Europe, that allows for civil usage of UAVs that fly on altitudes up to 120 meters, the need for reliable and cheap positioning systems became even more dire. In this thesis two possible solutions for

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5

Klaus, Robert Andrew. "Development of a Sense and Avoid System for Small Unmanned Aircraft Systems." BYU ScholarsArchive, 2013. https://scholarsarchive.byu.edu/etd/3761.

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Unmanned aircraft systems (UAS) represent the future of modern aviation. Over the past 10 years their use abroad by the military has become commonplace for surveillance and combat. Unfortunately, their use at home has been far more restrictive. Due to safety and regulatory concerns, UAS are prohibited from flying in the National Airspace System without special authorization from the FAA. One main reason for this is the lack of an on-board pilot to "see and avoid" other air traffic and thereby maintain the safety of the skies. Development of a comparable capability, known as "Sense and Avoid"

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6

Degen, Shane C. "Reactive image-based collision avoidance system for unmanned aircraft systems." Thesis, Queensland University of Technology, 2011. https://eprints.qut.edu.au/46969/1/Shane_Degen_Thesis.pdf.

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Approximately 20 years have passed now since the NTSB issued its original recommendation to expedite development, certification and production of low-cost proximity warning and conflict detection systems for general aviation [1]. While some systems are in place (TCAS [2]), ¡¨see-and-avoid¡¨ remains the primary means of separation between light aircrafts sharing the national airspace. The requirement for a collision avoidance or sense-and-avoid capability onboard unmanned aircraft has been identified by leading government, industry and regulatory bodies as one of the most significant challenges

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7

Cosentino, Andrea. "Obstacle detection & collision avoidance system for an Unmanned Aerial Vehicle with real time trajectory generation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.

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This thesis work presents a preliminary design of a detection and avoidance system for an Unmanned Aerial Vehicle (UAV). The code realized is capable to sense cooperative aircraft surrounding the UAV and to avoid them in a complete autonomous way. The detection of the aircraft is made by the elaboration of the information that they share in the medium. On the other hand, the generation of the trajectories to avoid the collisions is treated using a geometrical approach and dealing with different scenarios: no-moving obstacle, moving obstacle, multiple obstacles and terrain collision avoidanc

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8

Lindsten, Fredrik. "Angle-only based collision risk assessment for unmanned aerial vehicles." Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15757.

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<p>This thesis investigates the crucial problem of collision avoidance for autonomous vehicles. An anti-collision system for an unmanned aerial vehicle (UAV) is studied in particular. The purpose of this system is to make sure that the own vehicle avoids collision with other aircraft in mid-air. The sensor used to track any possible threat is for a UAV limited basically to a digital video camera. This sensor can only measure the direction to an intruding vehicle, not the range, and is therefore denoted an angle-only sensor. To estimate the position and velocity of the intruder a tracking syst

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9

Boček, Michal. "Rozšíření řídicího systému modelu letadla Skydog o podporu vzdáleného a samočinného řízení Android aplikací." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2014. http://www.nusl.cz/ntk/nusl-236091.

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The thesis aims to design and implement an Android application with ability to control the autopilot of the Skydog aircraft model using the wireless telemetry. The application shall receive data from an aircraft model gathered from various installed sensors. These data shall be then processed and corresponding instructions for autopilot shall be sent back. When collision with terrain or obstacle is detected, the application shall send instructions to autopilot to avoid such collision. RRT algorithm is used to find collision-free flight trajectory. Database of known obstacles and digital terrai

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10

Lai, John. "A hidden Markov model and relative entropy rate approach to vision-based dim target detection for UAV sense-and-avoid." Thesis, Queensland University of Technology, 2010. https://eprints.qut.edu.au/34462/1/John_Lai_Thesis.pdf.

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Uninhabited aerial vehicles (UAVs) are a cutting-edge technology that is at the forefront of aviation/aerospace research and development worldwide. Many consider their current military and defence applications as just a token of their enormous potential. Unlocking and fully exploiting this potential will see UAVs in a multitude of civilian applications and routinely operating alongside piloted aircraft. The key to realising the full potential of UAVs lies in addressing a host of regulatory, public relation, and technological challenges never encountered be- fore. Aircraft collision avoidance i

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11

Batelka, Marek. "Využitelnost civilních antikolizních systémů bezpilotními prostředky." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229453.

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This thesis explain today and future technologies of air traffic collision avoidance systems and of its utilizability by unmanned aircraft. The first part describes the UAVs and their categorization. Next part deals with the legislative requirements for their operation. The main part deals with TCAS, ADS-B, FLARM and others that are now used in civil aviation as a key technology to avoid a collision. The last part describes the UAV systems with a focus on the actual sensors used in systems for unmanned aerial vehicles for collision avoidance. The whole work deals with issues of development of

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12

Duberg, Daniel. "Safe Navigation of a Tele-operated Unmanned Aerial Vehicle." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-221701.

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Unmanned Aerial Vehicles (UAVs) can navigate in indoor environments and through environments that are hazardous or hard to reach for humans. This makes them suitable for use in search and rescue missions and by emergency response and law enforcement to increase situational awareness. However, even for an experienced UAV tele-operator controlling the UAV in these situations without colliding into obstacles is a demanding and difficult task. This thesis presents a human-UAV interface along with a collision avoidance method, both optimized for a human tele-operator. The objective is to simplify t

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13

Alturbeh, Hamid. "Collision avoidance systems for UAS operating in civil airspace." Thesis, Cranfield University, 2014. http://dspace.lib.cranfield.ac.uk/handle/1826/9295.

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Operation of Unmanned Aerial Vehicles (UAVs) in civil airspace is restricted by the aviation authorities which require full compliance with regulations that apply for manned aircraft. This thesis proposes control algorithms for a collision avoidance system that can be used as an advisory system or a guidance system for UAVs that are flying in civil airspace under visual flight rules. An effective collision avoidance system for the UAV should be able to perform the different functionalities of the pilot in manned aircraft. Thus, it should be able to determine, generate, and perform safe avoidan

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14

DE, FILIPPIS LUCA. "Advanced Path Planning and Collision Avoidance Algorithms for UAVs." Doctoral thesis, Politecnico di Torino, 2012. http://hdl.handle.net/11583/2497102.

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The thesis aims to investigate and develop innovative tools to provide autonomous ﬂight capability to a ﬁxed-wing unmanned aircraft. Particularly it contributes to research on path optimization, tra jectory tracking and collision avoidance with two algorithms designed respectively for path planning and navigation. The complete system generates the shortest path from start to target avoiding known obstacles represented on a map, then drives the aircraft to track the optimum path avoiding unpredicted ob jects sensed in ﬂight. The path planning algorithm, named Kinematic A*, is developed on the b

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15

Sahawneh, Laith Rasmi. "Airborne Collision Detection and Avoidance for Small UAS Sense and Avoid Systems." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/5840.

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The increasing demand to integrate unmanned aircraft systems (UAS) into the national airspace is motivated by the rapid growth of the UAS industry, especially small UAS weighing less than 55 pounds. Their use however has been limited by the Federal Aviation Administration regulations due to collision risk they pose, safety and regulatory concerns. Therefore, before civil aviation authorities can approve routine UAS flight operations, UAS must be equipped with sense-and-avoid technology comparable to the see-and-avoid requirements for manned aircraft. The sense-and-avoid problem includes severa

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16

Deaton, John Logan. "Investigating collision avoidance for small UAS using cooperative surveillance and ACAS X." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/122375.

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This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2019<br>Cataloged from student-submitted PDF version of thesis.<br>Includes bibliographical references (pages 115-118).<br>Small Unmanned Aircraft Systems (sUAS) have proliferated over the last decade. While these platforms offer many benefits to society, they pose a dangerous mid-air collision hazard. In order to safely integrate into airspace shared

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17

Casas, Melo Víctor Fernando [Verfasser], Andreas [Akademischer Betreuer] Mitschele-Thiel, Armin [Gutachter] Zimmermann, and Christian [Gutachter] Bettstetter. "Implementable self-organized collision avoidance for UAVs flying alone or in flocks / Víctor Fernando Casas Melo ; Gutachter: Armin Zimmermann, Christian Bettstetter ; Betreuer: Andreas Mitschele-Thiel." Ilmenau : TU Ilmenau, 2021. http://d-nb.info/123396688X/34.

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18

Duan, Pengfei. "Automatic Dependent Surveillance-Broadcast (ADS-B) Space-Oriented Message Set Design." Ohio University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1305656769.

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19

Wikle, Jared Kevin. "Integration of a Complete Detect and Avoid System for Small Unmanned Aircraft Systems." BYU ScholarsArchive, 2017. https://scholarsarchive.byu.edu/etd/6361.

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For unmanned aircraft systems to gain full access to the National Airspace System (NAS), they must have the capability to detect and avoid other aircraft. This research focuses on the development of a detect-and-avoid (DAA) system for small unmanned aircraft systems. To safely avoid another aircraft, an unmanned aircraft must detect the intruder aircraft with ample time and distance. Two analytical methods for finding the minimum detection range needed are described. The first method, time-based geometric velocity vectors (TGVV), includes the bank-angle dynamics of the ownship while the second

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20

Tony, Lima Agnel. "Mid-Air Collision Avoidance of Unmanned Aerial Vehicles." Thesis, 2021. https://etd.iisc.ac.in/handle/2005/5349.

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Autonomy is an essential feature of any robotic system. Aerial robots, commonly known as Unmanned Aerial Vehicles (UAVs), are being integrated into airspace and various trials towards achieving higher levels of autonomy are in progress. When multiple UAVs share the same airspace, safety from inter-UAV conflict is of utmost importance. Collision avoidance is an unavoidable feature of any UAV, and diverse methods addressing this problem are available in the literature. This thesis presents avoidance maps, a collision avoidance algorithm for fixed-wing UAVs. Avoidance of fixed-wing UAVs is cha

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21

Chu, Hung-Cheng, and 朱弘正. "Design of UAV Formation Flight and Collision Avoidance Based on Geometric Approach." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/d8cr3e.

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碩士<br>淡江大學<br>航空太空工程學系碩士班<br>107<br>This thesis mainly studies the design of the guidance law and collision avoidance control for UAV formation flight. The leader-follower approach was adopted for the guidance law development. The error between the follower’s position and the desired position was used for the generation of the guidance law. The collision avoidance controls involve the collision avoidance for leader and follower, and for follower and follower. The collision avoidance control for leader and follower is based on a geometric collision-cone approach using the line-of-sight vector,

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22

Hsu, Yu-Hsin, and 許毓心. "Reinforcement Learning-based Collision Avoidance and Optimal Trajectory Planning in UAV Communication Networks." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/kzp8m9.

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碩士<br>國立交通大學<br>電信工程研究所<br>107<br>In this thesis, we propose a reinforcement learning approach of collision avoidance and investigate optimal trajectory planning for unmanned aerial vehicle (UAV) communication networks. Specifically, each UAV takes charge of delivering objects in the forward path and collecting data from ground IoT devices in the backward path. We adopt reinforcement learning for assisting UAVs to learn collision avoidance without knowing the trajectories of other UAVs in advance. In addition, for each UAV, we use optimization theory to find out a shortest backward path that a

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23

Raimundo, António Sérgio Lima. "Autonomous Obstacle Collision Avoidance System for UAVs in rescue operations." Master's thesis, 2016. http://hdl.handle.net/10071/13045.

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The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous tasks, by using waypoint mission navigation using a GPS sensor. These autonomous tasks are also called missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the poss

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24

Manathara, Joel George. "Collision Avoidance And Coalition Formation Of Multiple Unmanned Aerial Vechicles In High Density Traffic Environments." Thesis, 2011. https://etd.iisc.ac.in/handle/2005/2360.

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This thesis addresses the problems of collision avoidance and coalition formation of multiple UAVs in high density traffic environments, proposes simple and efficient algorithms as solutions, and discusses their applications in multiple UAV missions. First, the problem of collision avoidance among UAVs is considered and deconfliction algorithms are proposed. The efficacy of the proposed algorithms is tested using simulations involving random flights in high density traffic. Further, the proposed collision avoidance algorithms are implemented using realistic six degree of freedom UAV models. T

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25

Manathara, Joel George. "Collision Avoidance And Coalition Formation Of Multiple Unmanned Aerial Vechicles In High Density Traffic Environments." Thesis, 2011. http://etd.iisc.ernet.in/handle/2005/2360.

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This thesis addresses the problems of collision avoidance and coalition formation of multiple UAVs in high density traffic environments, proposes simple and efficient algorithms as solutions, and discusses their applications in multiple UAV missions. First, the problem of collision avoidance among UAVs is considered and deconfliction algorithms are proposed. The efficacy of the proposed algorithms is tested using simulations involving random flights in high density traffic. Further, the proposed collision avoidance algorithms are implemented using realistic six degree of freedom UAV models. Th

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26

Santos, Ricardo Filipe Cunha. "Vídeo processing unit for USV collision avoidance demonstrator." Master's thesis, 2008. http://hdl.handle.net/10216/58415.

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Estágio realizado na Critical Software, S. A. e orientado pelo Eng.º Marco António Manso Ventura e Nuno Alexandre Duro dos Santos<br>Tese de mestrado integrado. Engenharia Informátca e Computação. Faculdade de Engenharia. Universidade do Porto. 2008

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27

Santos, Ricardo Filipe Cunha. "Vídeo processing unit for USV collision avoidance demonstrator." Dissertação, 2008. http://hdl.handle.net/10216/58415.

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Estágio realizado na Critical Software, S. A. e orientado pelo Eng.º Marco António Manso Ventura e Nuno Alexandre Duro dos Santos<br>Tese de mestrado integrado. Engenharia Informátca e Computação. Faculdade de Engenharia. Universidade do Porto. 2008

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28

Fasano, Giancarmine. "Multisensor based fully autonomous non-cooperative collision avoidance system for UAVs." Tesi di dottorato, 2008. http://www.fedoa.unina.it/1836/1/Fasano_Ingegneria_Aerospaziale_Navale_e_della_Qualita.pdf.

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Unmanned Aerial Vehicles will have a safe access to the Civil Airspace only when they will be able to avoid collisions even with non cooperative flying obstacles. Thus, they need to replace the capability of human eye to detect potential mid-air collisions with other airframes and the pilot experience to find an adequate avoidance trajectory. This thesis deals with development and test of a fully autonomous system devoted to avoidance of non cooperative intruders. In particular, it focuses on sensors, and processing logics and hardware, required on the unmanned system to acquire situational aw

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