Reactive Collision Avoidance Using Nonlinear Geometric and Differential Geometric Guidance (original) (raw)

Unmanned Aerial Vehicles (UAVs) require effective collision avoidance mechanisms, particularly when operating at low altitudes where they are susceptible to obstacles. Traditional methods, such as potential fields and rapidly-exploring random trees (RRT), face challenges in computational efficiency, path feasibility, and adherence to vehicle dynamics. This paper proposes a reactive collision avoidance algorithm based on nonlinear geometric and differential geometric guidance, designed to be computationally efficient while ensuring UAVs can navigate safely around obstacles in real-time. The efficacy of this approach is demonstrated through simulations, showcasing its ability to manage dynamic environments without compromising the UAV's mission objectives.