Strategic Obstacle Utilization in Quadrotor Threat Avoidance

This paper investigates a threat avoidance scenario in which a Threat UAV attempts to approach a Threatened UAV within an obstacle-containing environment. Existing approaches often fail to prevent the Threatened UAV from being approached by the Threat UAV when the Threatened UAV lacks a speed advantage, even with obstacles present. To address this, we propose a strategy that strategically exploits obstacles to induce collisions with the Threat UAV. Both simulation and real-world experiments validate the effectiveness of this approach, demonstrating that obstacles can be leveraged as strategic assets to enhance threat avoidance capabilities.