Research Article
Online Path Generation and Navigation for Swarms of UAVs
| (1) | while the UAV is in the backtrack mode do | | (2) | randomly choose one of the three dimensions | | (3) | attempt to move the UAV in the opposite direction of its destination | | (4) | if a collision-hazard is found or the required location is locked by another UAV then | | (5) | hover in place | | (6) | else | | (7) | backtrack the UAV by moving it one step away from its destination | | (8) | end if | | (9) | if the required number of backtrack steps is successfully completed or the maximum number of backtrack attempts is reached then | | (10) | deactivate the backtrack mode and return to the normal flight mode | | (11) | end if | | (12) | end while |
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