This paper discusses a quadcopter swarm collision avoidance algorithm “CA algorithm”. The algorithm builds a repulsive force field around each quadcopter and around the obstacles in the environment. The forces values which affect one quadcopter is proportional to the invers of the distances between it and the other quadcopters in the swarm, it is affected by the speeds too to improve the response of the quadcopters. The algorithm parameters were calculated so the quadcopters avoid the collisions and achieve the wanted reaction characteristics. The algorithm was tested using Matlab, Simulink and the results were discussed.
Collision avoidance algorithm for a quadcopters swarm
XLIII ACADEMIC SPACE CONFERENCE: dedicated to the memory of academician S.P. Korolev and other outstanding Russian scientists – Pioneers of space exploration ; 2019 ; Moscow, Russia
AIP Conference Proceedings ; 2171 , 1
2019-11-15
9 pages
Conference paper
Electronic Resource
English
190006 Collision avoidance algorithm for a quadcopters swarm
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