This technology implements an autonomous collision avoidance algorithm that assesses collision probability based on the relative distance and velocity of objects surrounding the UAV, and generates flight control commands by combining user control inputs with collision avoidance vector values. In particular, when multiple objects are present, if the directions of the vectors are within a preset angle during the sequential vector summation process, an orthogonal avoidance motion vector is added to prevent inefficient behaviors such as stalling.
Conventional methods based on the Repulsive Potential Field (RPF) calculate collision avoidance forces as infinite values, necessitating converter processing. Furthermore, these methods often result in the UAV stalling due to the cancellation of user control inputs by collision avoidance values, and they suffer from an inability to provide 360-degree omnidirectional detection due to sensor Field of View (FOV) limitations.
This technology includes a collision assessment unit that determines the likelihood of a collision based on the relative distance and velocity of objects near the UAV, and a collision avoidance calculation unit that sums a first collision avoidance vector based on UAV velocity and a second collision avoidance vector based on user control input. When summing the avoidance vectors for the i-th object, if the vectors fall within a preset angle, an avoidance motion value in the orthogonal plane is added to ensure collision avoidance. Applicable to unmanned exploration, surveillance, and environmental monitoring, this technology improves the calculation of collision prevention values by accounting for both user control inputs and UAV velocity.
This invention was developed with support from the Ministry of Science and ICT for smart convergence technology for active defense systems in urban UAV safety management.
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