Abstract
Predictably, future urban airspaces will be crowded with autonomous unmanned aerial vehicles (UAVs) offering different services to the population. One of the main challenges in this new scenario is the design of collision-free navigation algorithms to avoid conflicts between flying UAVs. The most appropriate collision avoidance strategies for this scenario are non-centralized ones that are dynamically executed (in real time). Existing collision avoidance methods usually entail a high computational cost. In this work, we present Bounding Box Collision Avoidance (BBCA) algorithm, a simplified velocity obstacle-based technique that achieves a balance between efficiency and cost. The performance of the proposal is analyzed in detail in different airspace configurations. Simulation results show that the method is able to avoid all the conflicts in two UAV scenarios and most of them in multi-UAV ones. At the same time, we have found that the penalty of using the BBCA collision avoidance technique on the flying time and the distance covered by the UAVs involved in the conflict is reasonably acceptable. Therefore, we consider that BBCA may be an excellent candidate for the design of collision-free navigation algorithms for UAVs.
Highlights
In the not-too-distant future, unmanned aerial vehicles (UAVs) will be a common element in airspace
In this work we propose a decentralized mechanism that slightly modifies the route followed by the UAVs involved in the conflict
Without wishing to be exhaustive, we present a general taxonomy of collision avoidance approaches for the multi-UAV scenario considered, and we describe in a little more detail some popular techniques
Summary
In the not-too-distant future, unmanned aerial vehicles (UAVs) will be a common element in airspace Their use in recent years has increased exponentially, and this is mainly due to cost savings, their autonomy, and the absence of risk from the human factor. The increase in the use of these vehicles for various applications has made the scientific community focus on their aerodynamics or the materials or chipsets of which they are composed, but a new challenge arises that is of greater interest—the design of collision-free path/trajectory planning mechanisms, especially in future crowded airspaces [1]. A prerequisite arises for these multi-UAV systems to be able to succeed in the new applications they face—the ability to avoid collision.
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