Relative Position-based Collision Avoidance System for Swarming Uavs Using Multi-sensor Fusion

This paper presents the development of a quadrotor unmanned aerial vehicle (UAV) that is capable of quaddirectional collision avoidance with obstacles in swarming applications through the implementation of relative positionbased cascaded PID position and velocity controllers. A collision avoidance algorithm that decides evasive manoeuvres in two dimensional… (More)