Modified Tentacle Algorithm for Collision Avoidance for UAV

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.