Obstacle detection & collision avoidance system for an Unmanned Aerial Vehicle with real time trajectory generation

This thesis work presents a preliminary design of a detection and avoidance system for an Unmanned Aerial Vehicle (UAV). The code realized is capable to sense cooperative aircraft surrounding the UAV and to avoid them in a complete autonomous way. The detection of the aircraft is made by the elaboration of the information that they share in the medium. On the other hand, the generation of the trajectories to avoid the collisions is treated using a geometrical approach and dealing with different scenarios: no-moving obstacle, moving obstacle, multiple obstacles and terrain collision avoidance. With the so called point mass model, the controls to obtain the generated trajectory are found accordantly with the main literature. The proposed solution can be used for almost any kind of UAV that shall operate in civil air space.