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As mini UAVs become increasingly useful in the civilian work domain, the needfor a method for them to operate safely in a cluttered environment is growing,especially for fixed-wing UAVs as they are incapable of following thestop-decide-execute methodology. This paper presents preliminary research todesign a reactive collision avoidance algorithm based on the improveddefinition of the repulsive forces used in the Artificial potential fieldalgorithms to allow feasible and safe navigation of fixed-wing UAVs incluttered, dynamic environments. We present simulation results of the improveddefinition in multiple scenarios, and we have also discussed possible futurestudies to improve upon these results.

A reformulation of collision avoidance algorithm based on artificial potential fields for fixed-wing UAVs in a dynamic environment