Spatial collision avoidance for Quadrotors

This article presents an algorithm for robust trajectory tracking and a three-dimensional collision avoidance strategy for perturbed quadrotors operating in the same airspace. When activated, the avoidance strategy forms a three-dimensional repulsive vector field around each vehicle. A control law, based on the direction of the vector field, ensures collision avoidance. The robust control law for trajectory tracking compensates for constant unknown disturbances. The trajectory tracking and collision avoidance strategies are then practically validated, demonstrating their real-world applicability.