Modification Swarm UAV Flocking Method: Prioritization and Collision Avoidance for Efficient Mission Execution

Abstract

The use of drones or Unmanned Aerial Vehicles (UAVs) for various civil, public, and military purposes, including border surveillance, traffic management, and disaster response, is becoming increasingly common. UAVs are also employed to deliver medications and medical aid to hard-to-reach areas. The risk of drone collisions is a significant concern during operations, especially in swarm situations. Flocking methods are typically used to manage drone movements to avoid collisions, but they do not prioritize mission importance or battery status. As a result, colliding drones tend to avoid each other, which can extend flight times and the paths taken. This research aims to modify the flocking method to improve UAV operations efficiency and safety by prioritizing drones based on mission urgency and battery status, thereby enhancing flight path efficiency and reducing travel time.