Improved nonlinear dynamic inverse Guidance-based collision avoidance For UAVs

An improved nonlinear dynamic inverse guidance law is proposed for the problem of UAVs collision avoidance in this paper. First, a method based on collision cone boundary is investigated for collision detection. Second, an improved nonlinear dynamic inverse guidance law, which can be applied to multiple initial angles and speeds, is designed to ensure the security of UAVs collision avoidance. In addition, the stability of system is proved. The method of calculating the guidance coefficient is investigated by the optimal proportional navigation law. In order to analysis the performance of this guidance law, a simulation system based on 6-DOF UAV is established. The results conclusively demonstrated that there is no need for precise collision avoidance time and this guidance law applies to multiple initial angles and speeds.