  Several solutions have been proposed in the literature to address the
Unmanned Aerial Vehicles (UAVs) collision avoidance problem. Most of these
solutions consider that the ground controller system (GCS) determines the path
of a UAV before starting a particular mission at hand. Furthermore, these
solutions expect the occurrence of collisions based only on the GPS
localization of UAVs as well as via object-detecting sensors placed on board
UAVs. The sensors' sensitivity to environmental disturbances and the UAVs'
influence on their accuracy impact negatively the efficiency of these
solutions. In this vein, this paper proposes a new energy and delay-aware
physical collision avoidance solution for UAVs. The solution is dubbed EDC-UAV.
The primary goal of EDC-UAV is to build inflight safe UAVs trajectories while
minimizing the energy consumption and response time. We assume that each UAV is
equipped with a global positioning system (GPS) sensor to identify its
position. Moreover, we take into account the margin error of the GPS to provide
the position of a given UAV. The location of each UAV is gathered by a cluster
head, which is the UAV that has either the highest autonomy or the greatest
computational capacity. The cluster head runs the EDC-UAV algorithm to control
the rest of the UAVs, thus guaranteeing a collision-free mission and minimizing
the energy consumption to achieve different purposes. The proper operation of
our solution is validated through simulations. The obtained results demonstrate
the efficiency of EDC-UAV in achieving its design goals.
