Differential Geometry based Collision Avoidance Guidance for Multiple UAVs

A guidance law based on a differential geometry is proposed for UAV(Unmanned Aerial Vehicle) collision avoidance and formation reconfiguration. The proposed guidance law makes multiple UAVs avoid obstacles and provides a guideline for formation reconfigurtion. Differential geometry uses the line of sight vector and relative velocity vector information, and therefore it is effective to generate the real-time guidance command. Recognition process is introduced for obstacle recognition and judgement whether or not the collision avoidance is completed. Lyapunov theorem is used to prove the stability of the proposed guidance law. The analysis on the collision avoidance is also performed using the maximum angular rate of the UAV and the range of the recognition. Numerical simulation is performed to verify the performance of the proposed guidance and formation reconfiguration strategy.