Cooperative Collision Avoidance Method for Large Teams of Unmanned Aerial Vehicles

摘要

This work presents a novel cooperative method of collision avoidance for a large group of unmanned vehicles involved in forest fire fighting operations. The proposed method is based on the collision detection algorithm that uses information captured from the sensors of passive-type and relies on the method of cooperative distance evaluation based on polygonometry. It allows avoiding collisions using opportunities of cooperation between participants in a joint motion, which is implemented based on the team coordination/communication framework. This method has been designed for navigation and motion control systems of the forest fire-fighting UAVs that use the path planning method based on the potential fields approach transferred into discrete 3D space. The proposed method has satisfactory performance and does not require the intervention of a human or command center.