Dynamic Obstacle Avoidance for A Quadrotor Using Collision Cone Approach

This paper also discusses about the avoidance of dynamic or moving obstacle in a given environment. The algorithm used is the collision cone approach to avoid collisions between a quadrotor and a dynamic obstacle. The quadrotor is considered to be in collision course when its velocity vector lies inside the collision cone. The avoidance maneuver is achieved by generating lateral acceleration perpendicular to the direction of the velocity vector such that the quadrotor grazes the surface of the dynamic obstacle. This paper also discusses the collision cone approach for multiple obstacles.