  As mini UAVs become increasingly useful in the civilian work domain, the need
for a method for them to operate safely in a cluttered environment is growing,
especially for fixed-wing UAVs as they are incapable of following the
stop-decide-execute methodology. This paper presents preliminary research to
design a reactive collision avoidance algorithm based on the improved
definition of the repulsive forces used in the Artificial potential field
algorithms to allow feasible and safe navigation of fixed-wing UAVs in
cluttered, dynamic environments. We present simulation results of the improved
definition in multiple scenarios, and we have also discussed possible future
studies to improve upon these results.
