Flight Test Validation of Collision and Obstacle Avoidance in Fixed-Wing UASs with High Speeds Using Morphing Potential Field

摘要

A novel approach to collision and obstacle avoidance in fixed-wing unmanned aerial systems with high speed and high inertia was developed by reformulating classical artificial potential field navigational approaches. Classical artificial potential field navigation is a formidable approach to collision avoidance for slow and small robots including rotary-wing UASs, however they lack robustness and adaptability for large fixed-wing aircraft flying in close proximity or congested areas. As part of a concept demonstration, this work presents the validation and verification of morphing potential collision avoidance using large unmanned aerial systems flying at 60 ft/sec. The morphing potential function was constrained by the aircraft's six-degree-of-freedom dynamic characteristics and maximum allowable bank angle. A virtual time-varying waypoint is used to navigate the aircraft in a dynamically changing environment. The validation flight tests were successfully conducted and real-time avoidance capabilities were demonstrated.