A Reactive Inverse PN algorithm for collision avoidance among multiple Unmanned Aerial Vehicles

While performing a mission, multiple unmanned aerial vehicles (UAVs) need to avoid each other to prevent collisions among them. In this paper, we design a collision avoidance algorithm to resolve the conflict among UAVs that are on a collision course while flying to their respective destinations. The collision avoidance algorithm consist of each UAV that is on a collision course reactively executing a maneuver that will, as in dasiainversepsila proportional navigation (PN), increase line of sight (LOS) rate between them, resulting in a dasiapulling outpsila of collision course. The algorithm is tested for high density traffic scenarios as well as for robustness in the presence of noise.