4. Collision Avoidance

  1. Antonios Tsourdos,
  2. Brian White and
  3. Madhavan Shanmugavel

Published Online: 8 NOV 2010

DOI: 10.1002/9780470974636.ch4

Cooperative Path Planning of Unmanned Aerial Vehicles

Cooperative Path Planning of Unmanned Aerial Vehicles

How to Cite

Tsourdos, A., White, B. and Shanmugavel, M. (2010) Collision Avoidance, in Cooperative Path Planning of Unmanned Aerial Vehicles, John Wiley & Sons, Ltd, Chichester, UK. doi: 10.1002/9780470974636.ch4

Author Information

  1. Cranfield Defence and Security, Cranfield University, UK

Publication History

  1. Published Online: 8 NOV 2010
  2. Published Print: 19 NOV 2010

ISBN Information

Print ISBN: 9780470741290

Online ISBN: 9780470974636



  • collision avoidance - UAV assigned to map or for avoiding obstacles;
  • ‘obstacle’ - any object in environment that UAVs need to avoid;
  • obstacle avoidance - software program within UAV and set of sensors;
  • obstacle avoidance problem - and path planning association;
  • obstacle avoidance for mapped obstacles;
  • single obstacle case, intersecting straightline segment - of standard Dubins trajectory;
  • single-obstacle Dubins line solution;
  • multiple obstacle intersection trajectories;
  • obstacle avoidance of unmapped static obstacles;
  • UAVs in static cluttered environment - flyable paths, PH 2D in cluttered space


This chapter contains sections titled:

  • Research into Obstacle Avoidance

  • Obstacle Avoidance for Mapped Obstacles

  • Obstacle Avoidance of Unmapped Static Obstacles

  • Algorithmic Implementation

  • References