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This paper presents an Uncertainty Region-Constrained Collision Avoidance method for urban cruise UAVs operating under outdoor wind field disturbances. By considering the uncertainties in the positions of UAVs, nearby UAVs, and obstacles, the process constructs probabilistic safe regions for each UAV. Each UAV uses the Uncertainty Region-Constrained Control (URCC) approach to design its course within these zones guaranteeing the possibility of collision risk stays below a certain value. Integrating this method with a Model Predictive Control (MPC) framework, the suggested solution effectively handles the nonlinear dynamics of urban cruise UAVs, enhancing safety and efficiency in decentralized, communication-free environments. Experimental results demonstrate the method’s robustness and practicality in complex urban settings.

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Uncertainty Region-Constrained Collision Avoidance for Cruise UAVs Under Wind Field Disturbance

  • 会议论文

  • 发表日期：

    2025年

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  • Haoli Peng,
  • Zixuan Xu,
  • Guixian Qu,
  • Longbo Cheng,
  • Haobing Pang,
  • Ken Chen

摘要

This paper presents an Uncertainty Region-Constrained Collision Avoidance method for urban cruise UAVs operating under outdoor wind field disturbances. By considering the uncertainties in the positions of UAVs, nearby UAVs, and obstacles, the process constructs probabilistic safe regions for each UAV. Each UAV uses the Uncertainty Region-Constrained Control (URCC) approach to design its course within these zones guaranteeing the possibility of collision risk stays below a certain value. Integrating this method with a Model Predictive Control (MPC) framework, the suggested solution effectively handles the nonlinear dynamics of urban cruise UAVs, enhancing safety and efficiency in decentralized, communication-free environments. Experimental results demonstrate the method’s robustness and practicality in complex urban settings.