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Collision Avoidance of Unmanned Aerial Vehicles In an Urban Environment

This research proposes a collision-avoidance approach for unmanned aerial vehicles (UAVs) without local minima and inaccessible goal issues in an urban environment considering the enhanced potential field (EPF). The EPF formulated in a two-dimensional environment is extended into a three-dimensional environment by combining the vertical and horizontal maneuvers. The proposed approach is validated by simulation studies with various scenarios in an artificially generated urban environment considering UAV dynamics and sensor limitations.