Hello guys, I'm master's student majoring in mechanical engineering.

So far, I have conducted simulations in which a single object(Iris Drone) avoids a particular stationary objects(Trees). This Simulation was performed by linking Gazebo, Rviz and QGroundControl(PX4). Currently using Gazebo 9, Ubuntu 18.04.

The Collision Avoidance algorithm used what was built into the QGC.

I want to proceed with a multi-vehicle simulation that generates own path which change with time when moving obstacle comes out. Also, if the collision avoidance algorithm can be changed, I would like to customize it.

I tried Googling, but it wasn't easy to find. If you have a similar tutorial in this regard, I would appreciate it if you could recommend it. If you know anything about this simulation, please let me know in the comments.

Thank you in advance for your help!