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Decentralized 3D Collision Avoidance for Multiple UAVs in Outdoor Environments.

Eduardo Ferrera1, Alfonso Alcántara2, Jesús Capitán3

  • 1Networked Embedded Systems Group, University of Duisburg-Essen, 45127 Essen, Germany. eduardo.ferrera@uni-due.de.

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Summary
This summary is machine-generated.

This study introduces 3D-SWAP, a decentralized algorithm for Unmanned Aerial Vehicle (UAV) collision avoidance. It enables cooperative navigation in shared 3D airspace, even with unreliable communication and positioning.

Keywords:
collision avoidancedecentralized coordinationmulti-UAV

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Area of Science:

  • Robotics
  • Aerospace Engineering
  • Computer Science

Background:

  • Cooperative missions with multiple Unmanned Aerial Vehicles (UAVs) are increasingly common.
  • Navigating shared 3D airspace presents significant collision avoidance challenges, especially in outdoor environments.
  • Outdoor operations face limitations such as costly positioning systems, unreliable communication, and environmental factors like wind gusts.

Purpose of the Study:

  • To present 3D-SWAP, a novel decentralized algorithm for 3D collision avoidance among multiple UAVs.
  • To develop a reactive algorithm with low computational demands suitable for real-world UAV applications.
  • To enable UAVs to integrate local sensor data with information from nearby teammates.

Main Methods:

  • Developed and implemented the 3D-SWAP decentralized collision avoidance algorithm.
  • Utilized Software-In-The-Loop (SIL) simulation for initial system integration and evaluation.
  • Conducted field experiments with up to three custom-designed UAVs in an outdoor setting with uncontrolled conditions.

Main Results:

  • Demonstrated the feasibility of decentralized 3D collision avoidance for multiple UAVs.
  • Validated the algorithm's performance in realistic outdoor scenarios with challenging conditions.
  • Successfully integrated local sensor data with inter-UAV communication for enhanced situational awareness.

Conclusions:

  • 3D-SWAP provides an effective solution for decentralized 3D collision avoidance in multi-UAV systems.
  • The algorithm is robust to real-world outdoor operational challenges, including noisy positioning and wind.
  • The presented methodology facilitates practical implementation and field testing of autonomous UAV cooperation.