Study On Unmanned Aerial Vehicle Automatic Collision-Avoidance In Non-Segregated Airspace

With the improvement of Unmanned aerial vehicles(UAV)automation and intelligence and the application in the civil field, the operation of UAV in non-segregated airspace has become a hot spot in USA, European countries and so on. UAV can operate with other non-cooperative UAVs and manned aircraft in the same airspace. Therefore, it is necessary to study UAV automatic avoid other non-cooperative UAVs and manned aircraft in non-segregated airspace.This paper studies the automatic collision-avoidance problem in non-segregated airspace. Firstly, according to the operation state of UAV in non-segregated airspace, this paper analyzes the key technology and equipment of the UAV integrated into non-segregated airspace. Secondly, this paper analyzes the path planning algorithm of UAV in the segregated airspace, then selecting the genetic algorithm as the pre-flight path and automatic collision-avoidance path planning algorithm. This section also describes the principle of genetic algorithm and the advantages compared to traditional optimization algorithms. Finally, this paper models the barriers of two and three dimensional environment respectively. Then this paper plans the pre-flight path and improves the genetic operators of Genetic algorithms. The improved optimal solution, path quality, iterative algebra are superior to the traditional genetic algorithm. In addition, according to the features of UAV non-cooperative threat in two and three dimensional environment, this paper uses the improved genetic algorithm. This paper generates the automatic collision avoidance path in two and three dimensional environment and restores to the intended path of flight. Simulation result indicates that the generated pre-flight path and automatic collision-avoidance path can avoid threat effectively.