An Automatic Collision Avoidance with Disturbance Interval Observer for Unmanned Aerial Vehicle

An automatic collision avoidance with disturbance interval observer (DIOB) for unmanned aerial vehicle (UAV) in non-cooperative uncertain environments is proposed in this paper. First, the collision detection condition and the linear time-varying collision avoidance model based on the collision cone are given. And, the anti-disturbance control law with DIOB is designed to ensure the safety of UAV collision avoidance. Then, the stability of the UAV collision avoidance control system with DIOB is proved through the Lyapunov theory. The simulation results demonstrate that the proposed method can achieve UAV automatic collision avoidance in unknown obstacle acceleration.