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工作领域的应用日益广泛，在杂乱环境中安全运行的方法需求不断增长。对于固定翼无人机而言尤其如此，因为它们无法遵循"停止-决策-执行"的流程。本文提出了一种基于人工势场算法中斥力定义改进的反应式避碰算法初步研究，使固定翼无人机能够在杂乱、动态环境中实现可行且安全的导航。我们展示了该改进定义在多种场景下的仿真结果，并讨论了未来可在此基础上进行改进的研究方向。