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arXiv · 2004.09744

An Optimal Bearing-Only-Information Strategy for Unmanned Aircraft Collision Avoidance

Timothy L. Molloy·Tristan Perez·Brendan P. Williams
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Abstract

This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can be conceived as the solution to a novel differential game formulation of collision avoidance, and has several intuitive properties including maximising the instantaneous range acceleration in situations where the hazard is stationary or has a finite turn rate. The performance of the bearing-only strategy is illustrated in simulations based on test cases drawn from draft minimum operating performance standards for unmanned aircraft detect and avoid systems.

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Timothy L. Molloy, Tristan Perez, Brendan P. Williams. 2020-04-21. An Optimal Bearing-Only-Information Strategy for Unmanned Aircraft Collision Avoidance. https://arxiv.org/abs/2004.09744

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