Influence of Turning Time and Response Delay on the Horizontal Collision Avoidance for UAVs

For the purpose of resolving conflicts among Unmanned Aerial Vehicles (UAVs) that are on a collision course, we propose a geometric model for a horizontal collision avoidance maneuver that based on heading angle change. An algorithm is designed by taking into account the turning time of the aircraft and the autopilot´s response delay. A closed-form analytical solution is presented by using the Galilean principle of relativity to predict the separation to be achieved with a horizontal collision avoidance maneuver. The effects of turning time and autopilot´s response delay on the Horizontal Miss Distance (HMD) and the reserved time (Tau) are calculated and analyzed. The simulation results validate the real time performance of the algorithm, and indicate that the algorithm is suitable for time critical requirements.