Unmanned Aerial Vehicle Perception and Avoidance Rule Design

With the increase of the number of UAVs and the complexity of the airspace, the risk of UAVs colliding with other objects is increasing day by day. The perception and avoidance for UAV is a technology research, which complements the development of technology research and policy management. In this paper, the rules of perception and avoidance are designed for UAV with different take-off weights, which provide the basis for the regulation of UAV. Firstly, according to the safe flight distance of different sizes of UAVs, the safety flight avoidance action is implemented. Secondly, the rules of perceived flight avoidance and the rules of flight avoidance are defined in accordance with the objective factors such as the maneuverability of different types of UAVs. Finally, based on the rules of flight avoidance, the evasive action of routine situation avoidance and maneuvering posture of UAVs is established. According to the characteristics of the model, this paper proposes the avoidance maneuvers including left-turn, right-turn, climbing, descending, accelerating and decelerating. Besides, the lateral and longitudinal avoidance maneuvers which based on L1 and fixed height are designed, and the corresponding avoidance priorities are also mentioned.