Title: On a three dimensional vision based collision avoidance model,
Abstract: This paper presents a three dimensional collision avoidance approach for
aerial vehicles inspired by coordinated behaviors in biological groups. The
proposed strategy aims to enable a group of vehicles to converge to a common
destination point avoiding collisions with each other and with moving obstacles
in their environment. The interaction rules lead the agents to adapt their
velocity vectors through a modification of the relative bearing angle and the
relative elevation. Moreover the model satisfies the limited field of view
constraints resulting from individual perception sensitivity. From the proposed
individual based model, a mean-field kinetic model is derived. Simulations are
performed to show the effectiveness of the proposed model.