3D Collision Avoidance Scheme for Low-cost Micro UAVs

This paper involves trajectory planning for a low-cost UAV with limited sensing capability. The UAV must be able to safely reach its destination provided it can only gather limited information about its environment. We apply the velocity obstacle approach since it is applicable even with our model's limitation. When an obstacle is detected, the only information available is the distance to the obstacle and we estimate the needed information of the obstacle to be able to choose a collision-free trajectory towards the destination. We performed simulation on different obstacle movements and the collision-free trajectory of the UAV is shown in the simulation results.