Lyapunov Method-Based Collision Avoidance for UAVs

A critical safety concern with the rapid increase in UAVs is developing algorithms that can solve the pressing airborne collision avoidance problem. This paper proposed a collision avoidance algorithm for UAVs based on the Lyapunov method. A collision cone approach is used to predict any possible collision with the obstacle. It begins with the property of the parallel navigation, then formulates the problem as the stability of the control system. Using the Lyapunov method to analyze the stability of the system, we can obtain the UAV rendezvous guidance law. Furthermore, combining the geometric characteristic of the collision avoidance, we can also obtain the UAV collision avoidance law. The feasibility and performance of the proposed approach is not only mathematically analyzed, but also verified through simulation.