Optimal Reciprocal Collision Avoidance with Mobile and Static Obstacles for Multi-UAV Systems

This paper presents a collision avoidance algorithm for multiple aerial vehicle systems to be applied in real-time. The proposed algorithm is based on the 3D-Optimal Reciprocal Collision Avoidance (ORCA) algorithm. Several improvements have been implemented such as considering dynamic constraints of the UAV model and static obstacles, so it can be used in realistic environments. The algorithm has been integrated in ROS framework and tested with up to eight Unmanned Aerial Vehicles (UAVs). Several simulations in a realistic environment have been performed, including long endurance cooperative missions. A comparison with the ORCA algorithm is presented to analyze the improvements done.