Collision Avoidance Based on Reynolds Rules: A Case Study Using Quadrotors

Abstract : This work aims to present a collision avoidance algorithm developed to drive a swarm of Unmanned Aerial Vehicles (UAVs) using Reynolds flocking rules. We used small quadrotor aircrafts with 250 mm diameter, equipped with GPS and distance sensors, controlled by a Pixhawk autopilot board and an embedded Linux computer (Raspberry Pi). The control algorithm was implemented in C++ as a package for the ROS platform and runs on the Raspberry Pi, while the Pixhawk is responsible for the low level control of the aircraft. The distance sensors are used to detect nearby robots and based on this information the control algorithm determines the direction the robot should move to avoid collisions with its neighbors. We are able to see that from the individual perception and local interaction of each robot a group behavior emerges and the swarm move together coherently. A simulation environment based on the Gazebo Simulator was prepared to test and evaluate the algorithm in a way as close to the reality as possible.