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A collision avoiding system and a method of safety flying is proposed in this paper for Unmanned Air Vehicles (UAV). The UAV accesses the data from various sensors mounted on board and thus calculates the risks factors for any impending collision. An algorithm for decision making in order to avoid collision is presented in this paper as a pseudo code. Based on the measured as well as estimated risk factors, corrective measures are taken to avoid collision. A stateless collision avoidance system is used for rapid analysis of data that does not have significant correlation between them. For enhanced safety, a synthetic vision system is provided along with the remotely located pilot at the ground station and a communication link is established between the two.