Time varying Control set design for UAV Collision Avoidance Using Reachable Tubes

In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and disaster search and rescue operations. It is essential for the aircraft to have on-board collision avoidance capability to guarantee safety. Instead of the traditional approach of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking time varying control sets for ego aircraft giving predicted intruder reachable tube. We have applied the approach on a case study of two quadrotors collision avoidance scenario.