Collision avoidance for fixed-wing unmanned aerial vehicles (UAVs), using a novel methodology of avoidance map, is addressed in this work. Avoidance map is defined as a mapping in the control input space of a pair of UAVs, which partitions the control space into avoidance and collision regions, respectively. The choice of maneuvers to execute successful avoidance can be effectively obtained by using the avoidance map. The duration of control application is determined by a simple method that is time optimal and computationally efficient. Different versions of the map portraying the evolution of the concept are also given. Precision control, defined as a gradual reduction in control, is discussed to reduce the control input demand for the entire duration of avoidance. The concept is extended to multiple UAVs, and the additional requirement of the UAVs to return to nominal trajectory after avoidance, using Dubins paths, is also addressed. Finally, simulation results using realistic UAV models are considered, and some needed modifications to the basic avoidance strategy, made necessary by realistic maneuver models, are discussed. Several illustrative simulation results are given to support the applicability of the proposed method.

固定翼无人机 (UAV) 的碰撞避免，使用一种新的避让地图方法，在这项工作中得到解决。避让图被定义为一对无人机在控制输入空间中的映射，它将控制空间分别划分为避让区和碰撞区。使用回避地图可以有效地获得执行成功回避的机动选择。控制应用的持续时间由一种时间最佳且计算效率高的简单方法确定。还给出了描绘概念演变的地图的不同版本。精确控制，定义为控制的逐渐减少，被讨论以减少整个避免持续时间的控制输入需求。这个概念被扩展到多架无人机，并且还解决了无人机在使用杜宾斯路径避开后返回标称轨迹的额外要求。最后，考虑了使用真实无人机模型的仿真结果，并讨论了对基本回避策略的一些必要修改，这些修改是真实机动模型所必需的。给出了几个说明性的模拟结果来支持所提出方法的适用性。