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UAV Collision Avoidance

UAV Collision Avoidance. A Fuzzy Logic Approach Michelle Hromatka Jeffrey West. Outline. Basic Functions Fuzzy Functions Fuzzy Controllers Collision Detection Heading Change. Fuzzy Functions – Bearing Angle. current bearing angle opposite bearing angle.

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UAV Collision Avoidance

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  1. UAVCollision Avoidance A Fuzzy Logic Approach Michelle Hromatka Jeffrey West

  2. Outline • Basic Functions • Fuzzy Functions • Fuzzy Controllers • Collision Detection • Heading Change

  3. Fuzzy Functions – Bearing Angle current bearing angle opposite bearing angle

  4. Fuzzy Functions – Distance to Collision • How long to react

  5. Fuzzy Functions – Overlap Distance • Negative • Plane A arrives first

  6. Fuzzy Functions – Distance Between Planes distance between UAVs

  7. Fuzzy Controller 1 – Collision Detection • Inputs: • Distance to Collision – VeryClose, Close, Far, VeryFar • Overlap Distance – VeryNeg, Neg, Zero, Pos, VeryPos • Outputs: Safe, Possible, Danger

  8. Fuzzy Controller 1 – Collision Detection • Inputs: • Distance to Collision – VeryClose, Close, Far, VeryFar • Overlap Distance – VeryNeg, Neg, Zero, Pos, VeryPos • Outputs: Safe, Possible, Danger • Find Closest UAV • Enter Collision Avoidance if less than 100m away

  9. Fuzzy Controller 2 – Collision Avoidance • Inputs: • Distance Btwn. Planes • VeryClose, Close, Far, VeryFar • Bearing Angle • VeryNeg, Neg, LowNeg, LowPos, Pos, VeryPos • Outputs: • Change In Heading • VeryRight, Right, NoChange, Left, Right

  10. Fuzzy Inputs – Bearing Angle Set

  11. Fuzzy Inputs – Bearing Angle Set

  12. Fuzzy Inputs – Distance Set

  13. Fuzzy Inputs – Distance Set

  14. Fuzzy Outputs – Change in Heading Set

  15. Fuzzy Outputs – Change in Heading Set

  16. Fuzzy Logic Rules

  17. ResultsBase Case

  18. ResultsDong et al. & Our Methods

  19. Results

  20. The End • Conclusion • Future Work • Real-world implementation • Closest UAV vs. most dangerous UAV • Optimization of membership sets

  21. Questions?

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