This paper combines the notion of avoidance maps for collision avoidance between UAVs, proposed earlier in the literature, with requirement of the UAVs returning to their originally planned path. As the return path may give rise to further possibilities of collision avoidance, the avoidance map technique needs to be applied several times during the whole process. This paper addresses these issues by designing computationally efficient and energy efficient precision collision avoidance methods. Several simulation results are presented.