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Uppsats

Communication-Based Collision Avoidance for Unmanned Aircrafts

Kandidat-uppsats

Egeld, Sara, Ivarsson, Arvid

Linköpings universitet/Institutionen för datavetenskap

Publicerad: 2025

Språk: Engelska

Nyckelord

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⌕Autonomous systems⌕python⌕Multi-agent systems⌕latency⌕Multiagentsystem⌕Trajectory prediction⌕interoperability⌕robotics⌕Wireless Communication⌕UAV⌕Collision avoidance⌕Embedded Systems⌕Drones⌕drone⌕drönare⌕Autonomous navigation⌕autonom navigering⌕Robotik⌕Unmanned Aerial Vehicle⌕Autonoma system⌕interoperabilitet⌕computer systems⌕datorsystem⌕GPS⌕Simulering⌕GNSS⌕Distributed systems⌕Time-of-Flight sensor⌕ToF sensor⌕Distribuerade system⌕Crazyflie⌕robot simulation⌕encrypted communication⌕3D simulation⌕drone swarm⌕latens⌕PID⌕attraktionskraft⌕Host Identity Protocol⌕artificial potential field⌕träffsäkerhet⌕nano drone⌕Bluetooth⌕UAS⌕Remote ID⌕3D-simulering⌕unmanned aircraft system⌕cyber-physical systems⌕packet loss⌕paketförlust⌕UTM⌕lågpassfilter⌕trådlös kommunikation⌕Obemannade Luftfarkoster⌕Kollisionsundvikande⌕Webots⌕PID-Controller⌕Urban Air Mobility⌕simulation environment⌕simuleringsmiljö⌕HIT⌕real-time control⌕Inbäddade system⌕positioning system⌕positioneringssystem⌕banföljning⌕collision avoidance system⌕CA system⌕communication-based collision avoidance⌕sensor-free collision avoidance⌕sensorless collision avoidance⌕cooperative collision avoidance⌕autonomous collision avoidance⌕multi-UAV collision avoidance⌕drone-to-drone collision avoidance⌕conflict detection and resolution⌕APF⌕force-field method⌕potential field⌕geometric collision avoidance⌕geometric-based approach⌕hybrid algorithm⌕hybrid collision avoidance⌕relative miss distance vector⌕RM vector⌕displacement vector⌕repulsion force⌕attractive force⌕local minima⌕low-pass filter⌕tuning parameters⌕safety radius⌕path following⌕future position prediction⌕modified artificial potential field⌕MAPF⌕proportional navigation⌕PN guidance law⌕optimization-based collision avoidance⌕sense and avoid⌕see and avoid⌕static vs dynamic obstacle avoidance⌕dynamic obstacle avoidance⌕Drone Remote Identification Protocol⌕DRIP⌕remote identification⌕Host Identity Tags⌕trust-based collision avoidance⌕authenticated communication⌕secure communication⌕wireless broadcasting⌕inter-drone communication⌕drone-to-drone communication⌕position and velocity broadcasting⌕communication delay⌕Global Navigation Satellite System⌕Crazyflie 2.1+⌕Bitcraze⌕nano quadcopter⌕flow deck⌕Flow deck v2⌕optical flow sensor⌕Crazyradio⌕Crazyradio 2.0⌕expansion deck⌕unmanned aircraft⌕UA⌕small unmanned aircraft⌕Quadcopter⌕quadrotor⌕multi-drone⌕Cyberbotics⌕software-in-the-loop⌕sim-to-real⌕reality gap⌕simulation-to-reality⌕Webots Python API⌕Crazyflie Python library⌕matplotlib⌕3D trajectory⌕success rate⌕aerial robotics⌕UAS traffic management⌕shared airspace⌕airspace safety⌕drone safety⌕mid-air collision⌕separation assurance⌕scalable collision avoidance⌕kollisionsundvikande system⌕kommunikationsbaserad kollisionsundvikande⌕sensorfri kollisionsundvikande⌕samverkande kollisionsundvikande⌕autonom kollisionsundvikande⌕obemannad luftfarkost⌕obemannat luftfartygssystem⌕nanodrönare⌕drönarsvärm⌕artificiella potentialfält⌕potentialfältsmetod⌕geometrisk kollisionsundvikande⌕hybridalgoritm⌕repulsionskraft⌕lokala minima⌕säkerhetsradie⌕trajektoriaförutsägelse⌕dynamisk hinderundvikning⌕statiska och dynamiska hinder⌕fjärridentifiering av drönare⌕säker kommunikation⌕krypterad kommunikation⌕autentiserad kommunikation⌕trådlös sändning⌕kommunikation mellan drönare⌕kommunikationsfördröjning⌕satellitnavigeringssystem⌕optiskt flödessensor⌕avståndssensor⌕realtidsstyrning⌕flygrobotik⌕Cyberfysiska system⌕robotsimulering⌕verklighetsglapp⌕framgångsgrad⌕luftrumshantering⌕delat luftrum⌕luftrumssäkerhet⌕drönarsäkerhet⌕kollision i luften⌕separationssäkring⌕skalbar kollisionsundvikande

Sammanfattning

This thesis explores if it is possible to develop a collision avoidance (CA) system with the use of Drone Remote Identification Protocol (DRIP). The CA system will be used for small unmanned aircrafts (UAs) and is specifically implemented on the CrazyFlie platform. The goal of the study was to make two UAs able to autonomously navigate pre-planned routes in a shared 3D airspace, while avoiding collisions with each other. An initial approach based on Artificial Potential Fields (APF) was found insufficient due to frequent failures in simulation tests. To improve performance, the APF method was combined with a geometric-based approach. This resulted in significantly higher success rates in the simulated environment. When doing real life tests DRIP was simulated by using the developed CA system in combination with Global Navigation Satellite System (GNSS)-mimicked communication. This was done in order to share positional and velocity data between the UAs. While the hybrid algorithm performed moderately well in simulations, it might not work in real life applications. The wireless communication technology could be too unreliable or the hardware could wear down over time. This shows the challenges of creating simulation tools that matches well with reality. Regardless of this, the project still shows the potential of communication-based CA systems and lays a foundation for future research about sensor-free collision avoidance between multiple UAs.

Information

Författare
Egeld, Sara, Ivarsson, Arvid
Lärosäte / institution
Linköpings universitet/Institutionen för datavetenskap
Publiceringsdatum
2025
Uppsatstyp
Kandidat-uppsats
Språk
Engelska
Nyckelord
⌕Autonomous systems⌕python⌕Multi-agent systems⌕latency⌕Multiagentsystem⌕Trajectory prediction⌕interoperability⌕robotics⌕Wireless Communication⌕UAV⌕Collision avoidance⌕Embedded Systems⌕Drones⌕drone⌕drönare⌕Autonomous navigation⌕autonom navigering⌕Robotik⌕Unmanned Aerial Vehicle⌕Autonoma system⌕interoperabilitet⌕computer systems⌕datorsystem⌕GPS⌕Simulering⌕GNSS⌕Distributed systems⌕Time-of-Flight sensor⌕ToF sensor⌕Distribuerade system⌕Crazyflie⌕robot simulation⌕encrypted communication⌕3D simulation⌕drone swarm⌕latens⌕PID⌕attraktionskraft⌕Host Identity Protocol⌕artificial potential field⌕träffsäkerhet⌕nano drone⌕Bluetooth⌕UAS⌕Remote ID⌕3D-simulering⌕unmanned aircraft system⌕cyber-physical systems⌕packet loss⌕paketförlust⌕UTM⌕lågpassfilter⌕trådlös kommunikation⌕Obemannade Luftfarkoster⌕Kollisionsundvikande⌕Webots⌕PID-Controller⌕Urban Air Mobility⌕simulation environment⌕simuleringsmiljö⌕HIT⌕real-time control⌕Inbäddade system⌕positioning system⌕positioneringssystem⌕banföljning⌕collision avoidance system⌕CA system⌕communication-based collision avoidance⌕sensor-free collision avoidance⌕sensorless collision avoidance⌕cooperative collision avoidance⌕autonomous collision avoidance⌕multi-UAV collision avoidance⌕drone-to-drone collision avoidance⌕conflict detection and resolution⌕APF⌕force-field method⌕potential field⌕geometric collision avoidance⌕geometric-based approach⌕hybrid algorithm⌕hybrid collision avoidance⌕relative miss distance vector⌕RM vector⌕displacement vector⌕repulsion force⌕attractive force⌕local minima⌕low-pass filter⌕tuning parameters⌕safety radius⌕path following⌕future position prediction⌕modified artificial potential field⌕MAPF⌕proportional navigation⌕PN guidance law⌕optimization-based collision avoidance⌕sense and avoid⌕see and avoid⌕static vs dynamic obstacle avoidance⌕dynamic obstacle avoidance⌕Drone Remote Identification Protocol⌕DRIP⌕remote identification⌕Host Identity Tags⌕trust-based collision avoidance⌕authenticated communication⌕secure communication⌕wireless broadcasting⌕inter-drone communication⌕drone-to-drone communication⌕position and velocity broadcasting⌕communication delay⌕Global Navigation Satellite System⌕Crazyflie 2.1+⌕Bitcraze⌕nano quadcopter⌕flow deck⌕Flow deck v2⌕optical flow sensor⌕Crazyradio⌕Crazyradio 2.0⌕expansion deck⌕unmanned aircraft⌕UA⌕small unmanned aircraft⌕Quadcopter⌕quadrotor⌕multi-drone⌕Cyberbotics⌕software-in-the-loop⌕sim-to-real⌕reality gap⌕simulation-to-reality⌕Webots Python API⌕Crazyflie Python library⌕matplotlib⌕3D trajectory⌕success rate⌕aerial robotics⌕UAS traffic management⌕shared airspace⌕airspace safety⌕drone safety⌕mid-air collision⌕separation assurance⌕scalable collision avoidance⌕kollisionsundvikande system⌕kommunikationsbaserad kollisionsundvikande⌕sensorfri kollisionsundvikande⌕samverkande kollisionsundvikande⌕autonom kollisionsundvikande⌕obemannad luftfarkost⌕obemannat luftfartygssystem⌕nanodrönare⌕drönarsvärm⌕artificiella potentialfält⌕potentialfältsmetod⌕geometrisk kollisionsundvikande⌕hybridalgoritm⌕repulsionskraft⌕lokala minima⌕säkerhetsradie⌕trajektoriaförutsägelse⌕dynamisk hinderundvikning⌕statiska och dynamiska hinder⌕fjärridentifiering av drönare⌕säker kommunikation⌕krypterad kommunikation⌕autentiserad kommunikation⌕trådlös sändning⌕kommunikation mellan drönare⌕kommunikationsfördröjning⌕satellitnavigeringssystem⌕optiskt flödessensor⌕avståndssensor⌕realtidsstyrning⌕flygrobotik⌕Cyberfysiska system⌕robotsimulering⌕verklighetsglapp⌕framgångsgrad⌕luftrumshantering⌕delat luftrum⌕luftrumssäkerhet⌕drönarsäkerhet⌕kollision i luften⌕separationssäkring⌕skalbar kollisionsundvikande

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