Collision avoidance and path planning of multiple UAVs using flyable paths in 3D

This paper discusses path planning of a Micro Air Vehicle (UAV) with collision avoidance in a three dimensional space. The 3D space is chosen as an urban environment where the buildings are sparsely located. The process is divided into two phases: (i) Route planning where the buildings are isolated to form a route, which is followed by (ii) Path planning in which simple Dubins paths are employed to follow through the waypoints generated by the route planner. The first phase creates a network of waypoints in between the buildings which meets the minimum distance required for safe manoeuvre. Delaunay triangulation is used to isolate the buildings from each other and to produce safe waypoints between them. Once the way-points are assured safe to pass through, the path planner uses Dubins path to produce the flyable and safe paths.