제안 방법

• In the proposed method, the flight information of UAVs are shared between adjacent UAVs using FANET, and in special cases, they are transmitted to fixed sink nodes on the ground.
• A collision avoidance scheme for smooth maneuvering of a large number of indoor UAVs has been proposed in [1],[2]. In this study, a motion capture system was installed to observe the UAV in the indoor clusters, and extracted the position vector and the relative speed vector of the UAV. From these two pieces of information, the collision distance is calculated as shown in Fig.
• The results of this study can be applied to the development of a collision avoidance scheme that can be used to keep the safe flight of large number of UAVs. This method can also be used to prevent collision of UAVs in the environments where it is difficult to receive GPS signals
• 1 and the collision is avoided by operating the controller in the direction of increasing the collision distance. This study is an attempt to avoid collision of UAVs with cluster flight, but it is attempted under indoor and limited conditions and is not suitable for distributed autonomous flight environment because it is controlled through ground control system.
• In order to avoid collision, they designate a path to avoid collision by sharing information such as speed, angle, position and size of each UAVs flying through this network. Though this study proposed a collision avoidance scheme for mobile obstacles, it requires additional consideration for the configuration and maintenance of the network.