Research on cooperative sense and avoid approaches based on ADS-B for unmanned aerial vehicle

Abstract

ADS-B is regarded as a promising fashion on UAV SAA application. With the advantages of small size, low power consumption and low cost, ADS-B is easy to be integrated and applied on small UAVs, providing precise cooperative information for UAVs to perform sense and avoid tasks. In this paper, the program of cooperative sense and avoid system based on ADS-B is proposed and an experimental platform is set up. Moreover, the closed-loop rapid-exploring random tree (CL-RRT) algorithm is applied in this system. Both the experiment and simulation results show that by the CL-RRT algorithm UAVs can effectively avoid the intruder with real ADS-B data. The feasibility and superiority of the ADS-B for small UAVs are verified in performing the sense and avoid task.