Distributed cooperative collision avoidance control and implementation for multi-unmanned aerial vehicles
Sunan Huang, Rodney Teo, Wenqi Liu, Siarhei Michailovich Dymkou · 2017
Collision avoidance is one of the most basic problems in multi unmanned aerial vehicle systems. Various UAV collision avoidance algorithms have been reported in recent years. According to our knowledge, there is limited literature showing the implementation of collision avoidance algorithm on a real multi-UAV system. In this paper, the collision avoidance algorithm is studied in a multi-UAV system, based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. The algorithm is implemented on several real UAVs. Flight test is given to verify the effectiveness of the proposed collision avoidance algorithm.