Abstract
This paper considers a multiple Unmanned Aerial Vehicle (UAV) collision avoidance algorithm for UAVs in freeflight. This collision avoidance algorithm is tested by implementing it on realistic UAV models in a high density traffic simulation environment. Towards this, proportionalintegral controllers are designed for UAVs via successive loop closure technique to hold altitude and velocity and to achieve the turn rate commanded by the collision avoidance algorithm. The collision avoidance algorithm implemented on 6 degree of freedom UAV models augmented with these controllers is shown to avoid collisions and reduce the number of near misses among UAVs in a high density freeflight scenario.
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