As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the stop-decide-execute methodology. This paper presents preliminary research to design a reactive collision avoidance algorithm based on the improved definition of the repulsive forces used in the Artificial potential field algorithms to allow feasible and safe navigation of fixed-wing UAVs in cluttered, dynamic environments. We present simulation results of the improved definition in multiple scenarios, and we have also discussed possible future studies to improve upon these results.

翻译：随着微型无人机在民用领域中的应用日益广泛，对其在复杂环境中安全运行的方法需求日益增长，尤其对于固定翼无人机而言，由于无法遵循"停止-决策-执行"策略，这一需求更为迫切。本文提出一种基于人工势场算法中斥力函数改进定义的响应式碰撞规避算法的初步研究，旨在实现固定翼无人机在复杂动态环境中的可行安全导航。我们展示了改进定义在多种仿真场景下的结果，并讨论了未来改进这些结果的潜在研究方向。