Velocity Obstacle Based Strategy for Multi-agent Collision Avoidance of Unmanned Aerial Vehicles

Abstract

Unmanned Aerials Vehicles (UAVs), most known as drones, recently gained a lot of interest in several domains of civil applications. With the number of operating drones expected to quickly rise in the next few years comes the need to develop efficient collision avoidance solutions. To ensure the applicability of the collision avoidance solutions, given the limitations of UAVs, they must rely on a reliable source of information, and must be computationally efficient. This paper aims at providing an implementation of the Velocity Obstacle collision avoidance method, based on the information transmitted by the other UAVs. Multi-agent based simulations using the simulation software AirSim and the multi-agent platform SARL are proposed to assess the validity of the proposed solution.