Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory

Algorithm 1

The CTGA algorithm.

Input: waypoint path , UAV position , obstacles information, center , radius , and speed .

1: if then

2: UAV tracks the waypoints path

3: end if

4: for to do

5: 

6: 

7: 

8: 

9: if & then

10:  

11:  if then

12:   UAV tracks the circular path in clockwise

13:  else

14:   UAV tracks the circular path in clockwise

15:  end if

16: 

17:  if or

18:   

19:   

20:  end if

21: end if

22: end for

23: return UAV maneuver operations