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Dealing with Midair Collisions in Dense Collective Aerial Systems

机译：处理密集的集体空中系统中的空中碰撞

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摘要

The idea of creating collective aerial systems is appealing because several rather simple flying vehicles could join forces to cover a large area in little time in applications such as monitoring, mapping, search and rescue, or airborne communication relays. In most of these scenarios, a fleet of cooperating vehicles is dispatched to a confined airspace area and requested to fly close to a nominal altitude. Moreover, depending on the task each vehicle is assigned to, individual flight trajectories in this essentially two-dimensional space may interfere, resulting in disastrous collisions. This paper begins by introducing a probabilistic model to predict the rate of midair collisions that would occur if nothing is done to prevent them. In a second step, a control strategy for midair collision avoidance is proposed, which is interesting because it requires only local communication and information about flight altitudes. The proposed strategy is systematically analyzed in theory and simu lation as well as in experiments with five physical aerial vehicles. A significant reduction in collision rates can be achieved. Statistically, values close to zero are possible when the swarm's density is below an application dependent threshold. Such low collision rates warrant an acceptable level of confidence in collision-free opera tion of a physical swarm.
机译：创建集体航空系统的想法很吸引人，因为在监视，地图绘制，搜索和救援或机载通信中继等应用中，数种相当简单的飞行器可以在短时间内联合起来覆盖大面积区域。在大多数情况下，都会将一群协作车辆派遣到狭窄的空域区域，并要求其飞行接近标称高度。此外，根据每个车辆分配的任务，在该基本二维空间中的各个飞行轨迹可能会干扰，从而导致灾难性的碰撞。本文首先介绍一个概率模型，以预测如果不采取任何措施防止空中碰撞的发生率。在第二步中，提出了避免空中碰撞的控制策略，这很有趣，因为它只需要本地通信和有关飞行高度的信息。在理论和仿真以及在五种物理飞行器的实验中系统地分析了所提出的策略。可以大大降低碰撞率。从统计上讲，当群的密度低于依赖于应用程序的阈值时，接近零的值是可能的。如此低的碰撞率保证了在物理群的无碰撞操作中可以接受的置信度。

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  • 来源
    《Journal of Robotic Systems》 |2011年第3期|p.405-423|共19页
  • 作者

    Severin Leven; Jean-Christophe Zufferey; Dario Floreano;

  • 作者单位

    Laboratory of Intelligent Systems, Ecole Poly technique Fiderale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland;

    Laboratory of Intelligent Systems, Ecole Poly technique Fiderale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland;

    Laboratory of Intelligent Systems, Ecole Poly technique Fiderale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland;

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