Near-Optimal Collision Avoidance Maneuvers for UAV

Collision avoidance for the aircraft can be stated as a problem of maintaining a safe distance between aircrafts in conflict. Optimal collision avoidance problem seeks to minimize the given cost function while simultaneously satisfying the constraints. The cost function can be a function of time or input. This paper addresses the trajectory time-optimization problem for collision avoidance of the unmanned aerial vehicles. The problem is difficult to handle, because it is a two points boundary value problem with dynamic environment. Some simplifying algorithms are used for application in on-line operation. Although there are more complicated problems, by prediction of conflict time and some assumptions, we changed a dynamic environment problem into a static one.