UAV Collision Detection Algorithm based on Formulafor Fast Calculation

Abstract

Collision Avoidance System (CAS) is known as a pre-collision system or a forward collision warning system, and research has first begun as a vehicle safety system. In this paper, we propose an algorithm for collision detection of UAV. The proposed algorithm uses a mathematical method and detects the collision of the UAV by modeling it in a twodimensional plane. Using the mathematical modeling method, it is possible to determine the collision location of the UAV in advance. Experiments were conducted to measure the performance and accuracy of the proposed algorithm. In the experiment, we proceeded assuming three environments and were able to detect an accurate collision when the UAV moved. By applying the algorithm proposed in the paper to CAS, many collision accidents can be prevented. The proposed algorithm detects collisions through mathematical calculations. In addition, the movement time of the UAV was modeled in a 2D environment to shorten the calculation time.