On a Three Dimensional Vision Based Collision Avoidance Model

This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination point avoiding collisions with each other and with moving obstacles in their environment. The interaction rules lead the agents to adapt their velocity vectors through a modification of the relative bearing angle and the relative elevation. Moreover the model satisfies the limited field of view constraints resulting from individual perception sensitivity. From the proposed individual based model, a mean-field kinetic model is derived. Simulations are performed to show the effectiveness of the proposed model.