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Collision Avoidance for Unmanned Aircraft Systems (UAS)
Auburn Objective (2008)
• “fly safely and efficiently, in a limited space, a fleet of autonomous UAVs on a cooperative mission with terrestrial vehicles. ”
• Challenging Constraints– UAVs must fly at constant speed– UAVs must fly at the same altitude
Completed Tasks Since August 2008
• Started with an amateur platform (DIY Drone Easy Star)
• Summer 2010: Auburn adds a digital data link based on Zigbee – Multi hop mesh network (UAVs can be used
as relays/routers)– On fly waypoints updates
Completed Tasks Since August 2008 (Con’t)
• Summer 2011:– Integrated software architecture that allows the
evaluation of collisions avoidance (CA) algorithms using simultaneously a mix of real and virtual UAVs
– Implemented and evaluated 3 collision avoidance algorthms (different families)
• Summer 2012– Designed, implemented. And evaluated one new
collision avoidance algorithm– Implemented 4 additional CA algorithms
Software Architecture
Hardware in the Loop
Summer 2013
• Fixed wing UAS- Auburn ground station- Software testing- Auto configuration- Decentralized collision avoidance- Implementation of a hybrid collision avoidance
• New- Indoor navigation(Quadcopters)
Snapshot from Summer 2013
Ground Station (Snaphot) I
Ground Station (Snaphot) II
Questions?