A Method Based on Lateral Avoidance Rule for Unmanned Aerial Vehicle Avoidance Maneuvering Decision-Making

In the evasion decision-making process, it is important to choose the appropriate maneuver avoidance method for Unmanned Aerial Vehicle (UAV) sense and avoid during flight processes. The common evasion rules of UAVs are sorted out in this paper, an evasion maneuvering method based on L1 lateral avoidance rule is proposed. A fixed-wing UAV model is established for simulation experiments, and the matching ability of sensor response time under this method is analyzed. The results show that the avoidance maneuvering method can enable the UAV to carry out safe and effective avoidance when the two UAVs collide threatened. The evasion maneuver during the evasion process is safe and reliable, and the safe distance can be maintained. The sensor response time and the avoidance time match well. This method can be used in the evasion decision-making process and is also a supplement to the UAV sense and avoid decision-making system.