AGVO: Adaptive Geometry-Based Velocity Obstacle for Heterogenous UAVs Collision Avoidance in UTM

We introduce Adaptive Geometry-based Velocity Obstacle(AGVO), a novel approach for collision avoidance in Un manned Traffic Management(UTM) scenarios with heterogenous UAVs, namely fixed-wing and quadrotor UAVs. Our approach allows collision avoidance while maintaining a minimum safe distance from other vehicles using state information from UTM in the case of heterogeneous UAVs with different collision-avoidance algorithms. To enable collision avoidance for heterogeneous UAVs with different collision avoidance algorithms, we have modified the Velocity Obstacle algorithm to account for the relative speed of all the surrounding UAVs when searching for collision avoidance velocity. We evaluate our algorithm's effectiveness against other State-of-the-art online planners for non-reciprocal and heterogeneous collision avoidance in different mission scenarios with varying numbers of UAVs.