Modified Tentacle Algorithm For Collision Avoidance For UAV

International Journal of Research and Innovation in Applied Science (IJRIAS) | Volume VII, Issue II, February 2022 | ISSN 2454–6194

Modified Tentacle Algorithm For Collision Avoidance For UAV

C.N. Ezea¹, N. Nnajib^2
1Department of Computer Engineering Enugu State Polytechnic Iwollo Ezeagu.
²Department of Electronic Engineering, University of Nigeria, Nsukka.

Abstract
A collision avoidance methodology in UAV Operation using the modified tentacles algorithm is proposed in this work. Tremendous and remarkable achievements have been recorded in the area of collision avoidance in UAV operations. Applying the modified tentacles algorithm, this research used two point research objectives the principal aim was to maintain accurate collision avoidance. With a reliable simulation result, an algorithm based on the modified tentacles technique was proposed. This was also modeled. In executing the proposed algorithm, a 3D environmental data and information were converted to 2D information for ease of mathematical computation. Appropriate occupancy grid maps were generated to show a practical result of the 3D conversion to 2D. Thus, instead of dealing with an x, y, z or three dimensional environments, an x, y or two dimensional environment results and mathematical differentiation was applied. A development of an integrated model comprising of the conventional, Modified Tentacles Algorithm. This all inclusive integrated model was simulated in order to validate and justify the work. It is a justification and validation of this research on the use of Modified Tentacles Algorithm in achieving energy efficiency in UAV operations. It has been established that energy consumption in UAV operations is influenced by its mode of operation at a given time.

Keywords: unmanned aircraft system, collision avoidance, navigation, modified tentacles algorithm, unmanned aerial vehicle

1. INTRODUCTION

A tentacle is a flexible elongated tactile and prehensile system used to feel or grasp the two feelers at the head of the snail are tentacles with which it uses to feel object as it moves about.[1] generally in animals, tentacles work as muscular hydrostats for feeling or grasping objects in the form of sensory organs. Technically speaking, a tentacle is a sensor used in detecting objects and obstacles to obviate possible accidents. In this research, the modified tentacles algorithm was applied as a technique in this research to stem the shortcoming of collision avoidance occasioned by UAVs high speed and unstructured environments. Thus ensuring a high performance avoidance of collision. A complete departure from the conventional tentacles algorithm which uses inverse derivation, the modified tentacles algorithm comes in handy, to match the radius of each tentacles as well as the steering command. This ensured that the data calculation problem encountered in the conventional tentacle algorithm is solved.

the study of embedded sensor and communication de- vices. Every day, available civil, commercial and even military applications of UAVs motivated this growing interest. Navigation is of primary concern when stud- ies relating to UAVs are carried out. Apart from col- lision avoidance arising from a reliable trajectory path planning. [2] the problem associated with both the speed sets and tentacles in one speed set are significantly reduced and thus reconstructed such that its application could be made to multiple numbers of UAVs .
The aim of this research is to modified tentacles algorithm for collision avoidance for UAV.

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