A Collision Avoidance Strategy for Commercial Quadrotors

This article proposes a repulsive vector field-based collision avoidance for quadrotors performing position regulation tasks. The proposed strategy is evaluated by employing commercial drones that can be controlled through the body frame's translational velocity. The collision avoidance algorithm activates after a threshold distance between drones is exceeded. The regulation controller and collision avoidance strategy are experimentally evaluated when two drones switch their position in such a way that they cross each other close to the origin.