Collision avoidance in a recursive nested behaviour control structure for Unmanned Aerial Vehicles
In this paper, the collision avoidance behaviour in a recursive nested behaviour control structure for Unmanned Aerial Vehicles will be discussed. The architecture is an extension of the behaviour-based recursive control structure, which has been applied successfully to mobile robot applications. Th...
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 4281 |
|---|---|
| container_issue | |
| container_start_page | 4276 |
| container_title | |
| container_volume | |
| creator | Kandil, Amr A Wagner, Achim Gotta, Alexander Badreddin, Essameddin |
| description | In this paper, the collision avoidance behaviour in a recursive nested behaviour control structure for Unmanned Aerial Vehicles will be discussed. The architecture is an extension of the behaviour-based recursive control structure, which has been applied successfully to mobile robot applications. The system structure, as an abstraction of multiple cascaded control loops with feedback mechanisms, is robust against disturbances and model uncertainties. The obstacle awareness and collision avoidance are considered to be the most important issues in the field of Unmanned Aerial Vehicles (UAV), thus more attention will be paid to this topic. The collision avoidance utilizes a potential field method tailored for UAV application domain. The formulation of a repulsion forces based on radar sensor measurement is presented. The implementation of the collision avoidance system is also described. |
| doi_str_mv | 10.1109/ICSMC.2010.5642396 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5642396</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5642396</ieee_id><sourcerecordid>5642396</sourcerecordid><originalsourceid>FETCH-LOGICAL-i175t-9f7c45135ba24371d1731cc0b324d0c7aa519127975d01c6a986baa84096f893</originalsourceid><addsrcrecordid>eNo1kMtKAzEYheMNbGtfQDd5gan5c8-yDF4KFRdWcVcymQyNTBNJZgq-vQXr6vBxPs7iIHQLZAFAzP2qfnupF5QcWUhOmZFnaG6UBk45l0Jrco4mVChVgRTiAk3_C2ku0QSIpJWh9PMaTUv5IoQSDnqCmjr1fSghRWwPKbQ2Oo_DEXD2bswlHDyOvgy-xY3f2UNIY8YuxSGnHpchj24Ys8ddyvg97m2MR3Hpc7A9_vC74HpfbtBVZ_vi56ecoc3jw6Z-rtavT6t6ua4CKDFUplOOC2CisZQzBS0oBs6RhlHeEqesFWCAKqNES8BJa7RsrNWcGNlpw2bo7m82eO-33znsbf7Znq5iv52GWes</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Collision avoidance in a recursive nested behaviour control structure for Unmanned Aerial Vehicles</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Kandil, Amr A ; Wagner, Achim ; Gotta, Alexander ; Badreddin, Essameddin</creator><creatorcontrib>Kandil, Amr A ; Wagner, Achim ; Gotta, Alexander ; Badreddin, Essameddin</creatorcontrib><description>In this paper, the collision avoidance behaviour in a recursive nested behaviour control structure for Unmanned Aerial Vehicles will be discussed. The architecture is an extension of the behaviour-based recursive control structure, which has been applied successfully to mobile robot applications. The system structure, as an abstraction of multiple cascaded control loops with feedback mechanisms, is robust against disturbances and model uncertainties. The obstacle awareness and collision avoidance are considered to be the most important issues in the field of Unmanned Aerial Vehicles (UAV), thus more attention will be paid to this topic. The collision avoidance utilizes a potential field method tailored for UAV application domain. The formulation of a repulsion forces based on radar sensor measurement is presented. The implementation of the collision avoidance system is also described.</description><identifier>ISSN: 1062-922X</identifier><identifier>ISBN: 1424465869</identifier><identifier>ISBN: 9781424465866</identifier><identifier>EISSN: 2577-1655</identifier><identifier>EISBN: 9781424465880</identifier><identifier>EISBN: 1424465877</identifier><identifier>EISBN: 1424465885</identifier><identifier>EISBN: 9781424465873</identifier><identifier>DOI: 10.1109/ICSMC.2010.5642396</identifier><language>eng</language><publisher>IEEE</publisher><subject>collision avoidance ; Gain measurement ; Helicopters ; radar sensors ; repulsion force ; system architecture ; unmanned flying vehicles</subject><ispartof>2010 IEEE International Conference on Systems, Man and Cybernetics, 2010, p.4276-4281</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5642396$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,778,782,787,788,2054,27908,54903</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5642396$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Kandil, Amr A</creatorcontrib><creatorcontrib>Wagner, Achim</creatorcontrib><creatorcontrib>Gotta, Alexander</creatorcontrib><creatorcontrib>Badreddin, Essameddin</creatorcontrib><title>Collision avoidance in a recursive nested behaviour control structure for Unmanned Aerial Vehicles</title><title>2010 IEEE International Conference on Systems, Man and Cybernetics</title><addtitle>ICSMC</addtitle><description>In this paper, the collision avoidance behaviour in a recursive nested behaviour control structure for Unmanned Aerial Vehicles will be discussed. The architecture is an extension of the behaviour-based recursive control structure, which has been applied successfully to mobile robot applications. The system structure, as an abstraction of multiple cascaded control loops with feedback mechanisms, is robust against disturbances and model uncertainties. The obstacle awareness and collision avoidance are considered to be the most important issues in the field of Unmanned Aerial Vehicles (UAV), thus more attention will be paid to this topic. The collision avoidance utilizes a potential field method tailored for UAV application domain. The formulation of a repulsion forces based on radar sensor measurement is presented. The implementation of the collision avoidance system is also described.</description><subject>collision avoidance</subject><subject>Gain measurement</subject><subject>Helicopters</subject><subject>radar sensors</subject><subject>repulsion force</subject><subject>system architecture</subject><subject>unmanned flying vehicles</subject><issn>1062-922X</issn><issn>2577-1655</issn><isbn>1424465869</isbn><isbn>9781424465866</isbn><isbn>9781424465880</isbn><isbn>1424465877</isbn><isbn>1424465885</isbn><isbn>9781424465873</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kMtKAzEYheMNbGtfQDd5gan5c8-yDF4KFRdWcVcymQyNTBNJZgq-vQXr6vBxPs7iIHQLZAFAzP2qfnupF5QcWUhOmZFnaG6UBk45l0Jrco4mVChVgRTiAk3_C2ku0QSIpJWh9PMaTUv5IoQSDnqCmjr1fSghRWwPKbQ2Oo_DEXD2bswlHDyOvgy-xY3f2UNIY8YuxSGnHpchj24Ys8ddyvg97m2MR3Hpc7A9_vC74HpfbtBVZ_vi56ecoc3jw6Z-rtavT6t6ua4CKDFUplOOC2CisZQzBS0oBs6RhlHeEqesFWCAKqNES8BJa7RsrNWcGNlpw2bo7m82eO-33znsbf7Znq5iv52GWes</recordid><startdate>201010</startdate><enddate>201010</enddate><creator>Kandil, Amr A</creator><creator>Wagner, Achim</creator><creator>Gotta, Alexander</creator><creator>Badreddin, Essameddin</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201010</creationdate><title>Collision avoidance in a recursive nested behaviour control structure for Unmanned Aerial Vehicles</title><author>Kandil, Amr A ; Wagner, Achim ; Gotta, Alexander ; Badreddin, Essameddin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-9f7c45135ba24371d1731cc0b324d0c7aa519127975d01c6a986baa84096f893</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>collision avoidance</topic><topic>Gain measurement</topic><topic>Helicopters</topic><topic>radar sensors</topic><topic>repulsion force</topic><topic>system architecture</topic><topic>unmanned flying vehicles</topic><toplevel>online_resources</toplevel><creatorcontrib>Kandil, Amr A</creatorcontrib><creatorcontrib>Wagner, Achim</creatorcontrib><creatorcontrib>Gotta, Alexander</creatorcontrib><creatorcontrib>Badreddin, Essameddin</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kandil, Amr A</au><au>Wagner, Achim</au><au>Gotta, Alexander</au><au>Badreddin, Essameddin</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Collision avoidance in a recursive nested behaviour control structure for Unmanned Aerial Vehicles</atitle><btitle>2010 IEEE International Conference on Systems, Man and Cybernetics</btitle><stitle>ICSMC</stitle><date>2010-10</date><risdate>2010</risdate><spage>4276</spage><epage>4281</epage><pages>4276-4281</pages><issn>1062-922X</issn><eissn>2577-1655</eissn><isbn>1424465869</isbn><isbn>9781424465866</isbn><eisbn>9781424465880</eisbn><eisbn>1424465877</eisbn><eisbn>1424465885</eisbn><eisbn>9781424465873</eisbn><abstract>In this paper, the collision avoidance behaviour in a recursive nested behaviour control structure for Unmanned Aerial Vehicles will be discussed. The architecture is an extension of the behaviour-based recursive control structure, which has been applied successfully to mobile robot applications. The system structure, as an abstraction of multiple cascaded control loops with feedback mechanisms, is robust against disturbances and model uncertainties. The obstacle awareness and collision avoidance are considered to be the most important issues in the field of Unmanned Aerial Vehicles (UAV), thus more attention will be paid to this topic. The collision avoidance utilizes a potential field method tailored for UAV application domain. The formulation of a repulsion forces based on radar sensor measurement is presented. The implementation of the collision avoidance system is also described.</abstract><pub>IEEE</pub><doi>10.1109/ICSMC.2010.5642396</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1062-922X |
| ispartof | 2010 IEEE International Conference on Systems, Man and Cybernetics, 2010, p.4276-4281 |
| issn | 1062-922X 2577-1655 |
| language | eng |
| recordid | cdi_ieee_primary_5642396 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | collision avoidance Gain measurement Helicopters radar sensors repulsion force system architecture unmanned flying vehicles |
| title | Collision avoidance in a recursive nested behaviour control structure for Unmanned Aerial Vehicles |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-17T06%3A19%3A35IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Collision%20avoidance%20in%20a%20recursive%20nested%20behaviour%20control%20structure%20for%20Unmanned%20Aerial%20Vehicles&rft.btitle=2010%20IEEE%20International%20Conference%20on%20Systems,%20Man%20and%20Cybernetics&rft.au=Kandil,%20Amr%20A&rft.date=2010-10&rft.spage=4276&rft.epage=4281&rft.pages=4276-4281&rft.issn=1062-922X&rft.eissn=2577-1655&rft.isbn=1424465869&rft.isbn_list=9781424465866&rft_id=info:doi/10.1109/ICSMC.2010.5642396&rft_dat=%3Cieee_6IE%3E5642396%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781424465880&rft.eisbn_list=1424465877&rft.eisbn_list=1424465885&rft.eisbn_list=9781424465873&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5642396&rfr_iscdi=true |