UAVHeading-CollisionAvoidance

A*-based collision avoidance for UAV path planning

Table of Contents

• Required Modules
• Avoidance Scenarios
• Simulation Results
• Testing

Required Modules

• Shapely
• Matplotlib

Avoidance Scenarios

Head-On Collision

Non-Head-On Collision

Simulation Results

50 m/s Head-On Collision

50 m/s Head-On Collision (Targeted)

50 m/s Perpendicular Collision Scenario

Testing

UAVHcfg.py

Configuration file for UAVHeading Class

INTERVAL_SIZE = 0.0012          # defines resolution for A* search
DISTANCE_THRESHOLD = 0.01       # upper bound distance for running UAVHeading.avoid(UAVHeading) function

DECISION_WEIGHTS = [            # weights for sidedWeightDecision in head-on avoidance scenario
    1.0,                            # UAV-0
    6.0,                            # Goal Position for UAV-0
    0.75,                           # Other UAVs
    0.25                            # KeepOut Zoness
]

SHOW_ANIMATION = False          # graph path planning search animation in avoidance function

example.py

Example Test Script

• Import UAVHeading Class

from UAVHeading import UAVHeading

• Initialize UAV Objects

                # (pos, waypt, speed, heading, tPossible)
uav0 = UAVHeading((1.515593587271553, -132.53722833033987),
                  (1.5156, -132.5111),
                  50.0,
                  90.0,
                  30.0)

uav1 = UAVHeading((1.5098039166143598, -132.531099),
                  (1.5267, -132.531),
                  50.0,
                  0.0,
                  30.0)

• Run Avoidance Algorithm

waypoints, _ = uav0.avoid(uav1)