Abstract
Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). A lot of work is being done to make the CAS as safe and reliable as possible, necessit ...
Highlights
Development of any unmanned vehicle has several key benefits with the fundamental benefit of being able to operate without a human pilot and to access difficult to reach or hazardous areas without risking human lives [1]
In a swarm of drones, each Unmanned Aerial Vehicles (UAV) node is considered a charged particle, and attractive or repulsive forces between them and the obstacles are used to generate the path or the route to be taken [4], [86]; 3) optimisation-based methods that aim at finding the optimal or near-optimal solutions for path planning and motion characteristics of each drone w.r.t. the other drones and obstacles. These techniques rely on static objects, with known locations and sizes, for calculating the efficient route within a finite time period [87], [88]; and 4) sense-and-avoid methods that mainly focus on reducing the computational cost, with short response time, by simplifying the process of collision avoidance to an individual detection and avoidance of obstacles for each drone and deviating the drone from its original path when needed, independently of the other drones’ plans [35], [89], [90]
In the previous sections, we presented a comprehensive literature review on collision avoidance systems and strategies used for unmanned vehicles
Summary
Development of any unmanned vehicle has several key benefits with the fundamental benefit of being able to operate without a human pilot and to access difficult to reach or hazardous areas without risking human lives [1]. Bearing in mind the considerably low risk to human life, as well as improved durability for longer missions and accessibility in difficult terrains, the demand for such unmanned vehicles is increasing rapidly, and their path planning in dynamic environments remains one of the most challenging issues to solve [13] Due to their autonomy and ability to travel far from the base stations or their operators (the range naturally depends on the type and size of the vehicle) the need for having an on-board mechanism to avoid collisions with objects and other vehicles is obvious [14], [15]. Collision avoidance, path planning, localisation, and control systems are the key parts required by an unmanned vehicle to be fully autonomous and able to navigate without being explicitly controlled [26].
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