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This paper presents a new collision avoidance procedure for unmanned aerialvehicles in the presence of static and moving obstacles. The proposed procedureis based on a new form of local parametrized guidance vector fields, calledcollision avoidance vector fields, that produce smooth and intuitive maneuversaround obstacles. The maneuvers follow nominal collision-free paths which werefer to as streamlines of the collision avoidance vector fields. In the caseof multiple obstacles, the proposed procedure determines a mixed vector fieldthat blends the collision avoidance vector field of each obstacle and assumesits form whenever a pre-defined distance threshold is reached. Then, inaccordance to the computed guidance vector fields, different collisionavoidance controllers that generate collision-free maneuvers are developed.Furthermore, it is shown that any tracking controller with convergenceguarantees can be used with the avoidance controllers to track the streamlinesof the collision avoidance vector fields. Finally, numerical simulationsdemonstrate the efficacy of the proposed approach and its ability to avoidcollisions with static and moving pop-up threats in three different practicalscenarios.

Collision Avoidance for Unmanned Aerial Vehicles in the Presence of Static and Moving Obstacles