Collision Cone Based Collision Avoidance for Hexa-Rotors
Manaram Gnanasekera, Jayantha Katupitiya · 2022
This paper presents a novel collision cone based collision avoidance algorithm for hexa-rotors. The work conducted shows a speed based and a heading based collision avoidance method that could be implemented with minimal computational burden and minimal sensing. The dynamics of the hexa-rotor is considered and a complete dynamic model is presented. The validity and the applicability of the work is confirmed by both simulations and real-life experiments.