This paper discusses a quadcopter swarm collision avoidance algorithm “CA algorithm”. The algorithm builds a repulsive force field around each quadcopter and around the obstacles in the environment. The forces values which affect one quadcopter is proportional to the invers of the distances between it and the other quadcopters in the swarm, it is affected by the speeds too to improve the response of the quadcopters. The algorithm parameters were calculated so the quadcopters avoid the collisions and achieve the wanted reaction characteristics. The algorithm was tested using Matlab, Simulink and the results were discussed.
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