Vision-based UAV collision avoidance with 2D dynamic safety envelope

In this article, a vision-only based collision avoidance approach was proposed for SAA of UAVs. The 2D dynamic safety envelope was first generated to capture the threat level of the non-cooperative flying intruder and guide avoidance. Two visual servoing controllers were then designed to separately implement the avoidance and the returning maneuvers. The proposed collision avoidance approach does not require distance information. We demonstrated the effectiveness of the approach through simulations and experiments.