Transactions of Nanjing University of Aeronautics & Astronautics
Key Technology in Multi-UAV Conflict Detection and Resolution Strategy
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Abstract:
Based on ADS-B surveillance data, this paper proposes a multi-unmanned aerial vehicle(multi-UAV) collision detection method based on linear extrapolation for ground-based UAV collision detection and resolution, thus to provide early warning of possible conflicts. To address the problem of multi-UAV conflict, the basic ant colony algorithm is introduced. The conflict simplification model of the traditional basic ant colony algorithm is optimized by adding a speed regulation strategy. A multi-UAV conflict resolution scheme is presented based on speed regulation and heading strategies. The ant colony algorithm is improved by adding angle information and a queuing system. The results show that the improved ant colony algorithm can provide multi-UAV joint escape routes for a multi-UAV conflict situation in airspace. Unlike the traditional ant colony algorithm, our approach converges to the optimization target. The time required for the calculation is reduced by 43.9%, and the total delay distance caused by conflict resolution is reduced by 58.4%.
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U8
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