A Decentralized Collision Avoidance Algorithm for Individual and Collaborative UAVs

This paper presents an innovative approach to enhance collision avoidance in a group of Unmanned Aerial Vehicles (UAVs) connected by a cable. The proposed algorithm leverages Artificial Potential Fields (APFs) to navigate UAVs through complex environments while taking into account the constraints imposed by the interconnecting cable. The article outlines the algorithm’s theoretical foundation, implementation details, and provides comprehensive simulation results to demonstrate its efficacy in an experiment. The findings contribute to advancing the field of UAV swarm coordination and collision avoidance.