Collision Avoidance Scheme for Micro UAVs Delivering Information

The focus of this paper is to present our solution in efficiently finding the trajectory of an information delivering UAV in a communication network to minimize delays, avoiding collision with a static or moving obstacle. The UAV can gather only limited information about the obstacle due to the limited sensing capability, so the estimates of the obstacle's size, speed and moving direction are used. Velocity obstacle approach is applied in choosing the avoidance maneuvers that the UAV would take to avoid collision. The simulation results are presented and they show that the path chosen by the UAV can guarantee collision avoidance.