Concept of anti-collision algorithm for unmanned aerial vehicles

Abstract

The basis of the novel anti-collision algorithm is a software implementation that allows theUAV to avoid collisions with environmental obstacles, as well as with other flying objects. The paperuses simplified equations describing the dynamics of the quadcopter to facilitate the modelling ofthe simulation structure. The software implementation of the quadcopter model together with thecontroller is the basis for the operation of the anti-collision algorithm. The model control system usesa three-stage proportional-integral-differential controller. The inspiration of the resulting program ismagnetic interaction. The obstacle avoidance algorithm is based on the measurement of angular valuesand the selection of a proportional virtual force. The force repelling a quadcopter from an obstacle isa parameter that depends on its linear velocity, bearing on the obstacle and distance to the obstacle.The heat maps obtained reflect the scaling of the value and direction of the repulsive force. Afterdefining the target point and the position of the obstacle, the necessary parameters are measured andthe collision course correcting coordinates are selected on-board the quadcopter. The flight parametersof the quadcopter and the control coefficients of the anti-collision algorithm were analysed. Thecorrectness of the programs operation was checked by simulation using numerous characteristics.Keywords: Unmanned Aerial Vehicle, obstacle avoidance, anti-collision algorithm, UAV dynamicsmodel, quadcopter