A Modified Artificial Potential Field for UAV Collision Avoidance

Abstract

As UAV applications in the civilian airspace increases, securely operating them in congested environment becomes more challenging. A Cauchy Artificial Potential Field (CAPF) method is presented in this research to make UAV navigation practical and secure in a cluttered dynamic environment. The CAPF approach enables the UAVs to avoid collision with obstacles that could either be static or dynamic (Another UAV) commanding mostly non-aggressive maneuvers. The approach presented in the research has been verified through simulations and testing. We compare the results of CAPF with MAPF and the proposed approach has shown improvement in terms of total acceleration and in distance traveled by vehicles while providing safer margins at higher speeds.