Calculating Borders of Potentially Dangerous Areas of Interacting UAV

The most researchers studying interacting UAV collision avoidance do not consider aspects in regards to boarders of maneuvering beginning. Objectively, the use of non-corporate detection systems provides little time for maneuvering, this is why it starts straight after detection. In turn, corporate systems of dynamic threat detection, such as ADS-B, unreasonably expand the area of maneuver beginning. Conditions taking into account speed and angular response data of evader UAV determine the nearest area where the UAV will not avoid a collision. Thus, it is reasonable to introduce the concept of interaction zone, the furthest border of which determines maneuver beginning and the closest one determines impossibility to avoid collision by means of chosen maneuver. The paper considers a complex methodology for calculating the furthest and the closest borders of an interaction zone. The methodology contains numerical methods as well as statistical ones (Monte Carlo technique, for example). It also represents the results of such calculation for speed maneuver, parameters of which are defined basing on the speed approach. Considerably simple approximating expressions for these borders are deduced. Efficacy of the calculation was verified by direct computer-aided simulation with the use of specially developed software package.