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Overtaking Collision Avoidance for Small Autonomous Uncrewed Aircraft Using Geometric Keep Out Zones

Hawes, Nathaniel C
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1701094166969651

Abstract Details

2023, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering and Technology).
Autonomous uncrewed aircraft will require collision avoidance systems designed with autonomy in mind as they integrate into the increasingly crowded national airspace system. Current uncrewed aircraft collision avoidance systems typically require a remote pilot to execute avoidance or provide poorly defined guidance that does not benefit autonomous systems. Path Recovery Automated Collision Avoidance System re-plans flight paths to adjust to collisions autonomously using path planners and keep out zones but does not currently detect or mitigate overtaking collisions. This work investigates the effect of geometric keep out zones on the overtaking scenario for autonomous uncrewed aircraft. Keep out zone shapes were developed by relating relative velocities and turn rates of the aircraft in the overtaking scenario and tested using the Path Recovery Automated Collision Avoidance System. Operational ranges for approach heading, relative velocity, and look-ahead time were then determined. The developed set of keep out zones prevented intruder aircraft from entering the minimum separation distance of one wingspan of the mission aircraft in the overtaking scenario for scenarios with look-ahead times between five and twelve seconds, relative velocities of two to twenty, and approach angles between 110◦ and -110◦ measured from the heading of the main UAS. Minimum separation was maintained for low speed encounters with relative velocities between 1.1 and 2.0 for look-ahead times between two and eight seconds for all approach angles. With a look-ahead time range of five to eight seconds, overtaking collisions of all tested approach angles and relative speeds are handled with more than twice the separation required for success, showing that the developed keep out zones are feasible for implementation on possible autonomous collision avoidance systems.
Jay Wilhelm (Advisor)
David Drabold (Committee Member)
Yahya Al-Majali (Committee Member)
Brian Wisner (Committee Member)
68 p.
Aerospace Engineering; Electrical Engineering; Mechanical Engineering; Robotics
Collision avoidance; Uncrewed Aerial Systems (UAS); Unmanned Aerial Vehicles (UAV); Overtaking collisions; Autonomy; Autonomous collision avoidance; Detect And Avoid (DAA); Geometric keep out zones; Keep Out Zones (KOZ); Path Recovery Automated Collision Avoidance System (PRACAS)

Recommended Citations

Citations

  • Hawes, N. C. (2023). Overtaking Collision Avoidance for Small Autonomous Uncrewed Aircraft Using Geometric Keep Out Zones [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1701094166969651

    APA Style (7th edition)

  • Hawes, Nathaniel. Overtaking Collision Avoidance for Small Autonomous Uncrewed Aircraft Using Geometric Keep Out Zones. 2023. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1701094166969651.

    MLA Style (8th edition)

  • Hawes, Nathaniel. "Overtaking Collision Avoidance for Small Autonomous Uncrewed Aircraft Using Geometric Keep Out Zones." Master's thesis, Ohio University, 2023. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1701094166969651

    Chicago Manual of Style (17th edition)

ohiou1701094166969651
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© 2023, all rights reserved.
This open access ETD is published by Ohio University and OhioLINK.