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Visual Flight Rules-Based Collision Avoidance Systems for UAV Flying in Civil Aerospace

机译：基于Visual Flight规则的Civer Aeropace中的无人机飞行避免系统

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The 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 paper 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. A decision-making system for collision avoidance is developed based on the rules of the air. The proposed architecture of the decision-making system is engineered to be implementable in both manned aircraft and UAVs to perform different tasks ranging from collision detection to a safe avoidance manoeuvre initiation. Avoidance manoeuvres that are compliant with the rules of the air are proposed based on pilot suggestions for a subset of possible collision scenarios. The proposed avoidance manoeuvres are parameterized using a geometric approach. An optimal collision avoidance algorithm is developed for real-time local trajectory planning. Essentially, a finite-horizon optimal control problem is periodically solved in real-time hence updating the aircraft trajectory to avoid obstacles and track a predefined trajectory. The optimal control problem is formulated in output space, and parameterized by using B-splines. Then the optimal designed outputs are mapped into control inputs of the system by using the inverse dynamics of a fixed wing aircraft.
机译：民航空域的无人机（无人机）的运作受航空机构的限制，这需要完全遵守适用于载人飞机的法规。本文提出了一种碰撞避免系统的控制算法，可用作在视觉飞行规则下在民用空域中飞行的无人机的咨询系统或指导系统。基于空气规则开发了一种避免碰撞的决策系统。该决策系统的建议设计用于在载人飞机和无人机中可实现，以执行从碰撞检测到安全避免机动启动的不同任务。提出了根据可能的碰撞情景的子集的试点建议，提出了符合空气规则的避免演习。建议的避免机动使用几何方法进行参数化。为实时局部轨迹规划开发了一种最佳碰撞避免算法。基本上，在实时解决有限地平线最佳控制问题，从而更新飞机轨迹以避免障碍物并跟踪预定义的轨迹。最佳控制问题在输出空间中配制，并通过使用B样条参数化。然后，通过使用固定翼飞机的逆动力学，最佳设计的输出被映射到系统的控制输入中。

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