一种用于按计划任务飞行的多旋翼无人机之间避碰的分布式方法。

A Distributed Approach for Collision Avoidance between Multirotor UAVs Following Planned Missions.

作者信息

Fabra Francisco, Zamora Willian, Sangüesa Julio, Calafate Carlos T, Cano Juan-Carlos, Manzoni Pietro

机构信息

Department of Computer Engineering, Universitat Politècnica de València, 46022 Valencia, Spain.

Faculty of Computer Science, Universidad Laica Eloy Alfaro de Manabí, Manta 130802, Ecuador.

出版信息

Sensors (Basel). 2019 May 26;19(10):2404. doi: 10.3390/s19102404.

DOI:10.3390/s19102404

PMID:31130706

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC6567031/

Abstract

As the number of potential applications for Unmanned Aerial Vehicles (UAVs) keeps rising steadily, the chances that these devices get close to each other during their flights also increases, causing concerns regarding potential collisions. This paper proposed the Mission Based Collision Avoidance Protocol (MBCAP), a novel UAV collision avoidance protocol applicable to all types of multicopters flying autonomously. It relies on wireless communications in order to detect nearby UAVs, and to negotiate the procedure to avoid any potential collision. Experimental and simulation results demonstrated the validity and effectiveness of the proposed solution, which typically introduces a small overhead in the range of 15 to 42 s for each risky situation successfully handled.

摘要

随着无人机（UAV）潜在应用数量的持续稳步增长，这些设备在飞行过程中相互靠近的可能性也在增加，这引发了对潜在碰撞的担忧。本文提出了基于任务的避碰协议（MBCAP），这是一种适用于所有类型自主飞行多旋翼飞行器的新型无人机避碰协议。它依靠无线通信来检测附近的无人机，并协商避免任何潜在碰撞的程序。实验和仿真结果证明了所提解决方案的有效性，对于成功处理的每种危险情况，该方案通常会引入15至42秒范围内的少量开销。