Distributed Conflict-Detection and Resolution Algorithms for Multiple UAVs Based on Key-Node Selection and Strategy Coordination

Abstract

A distributed conflict-detection (CD) and resolution algorithm for multiple unmanned aerial vehicles based on key-node selection and strategy coordination are proposed in this paper. Each aircraft is regarded as a critical node in a complex network. A novel temporal and spatial integrated CD methodology is proposed for aircraft formations and clusters. Each node selects three candidate strategies from a pre-set pool of strategies and generates corresponding planned tracks using uncertainty modeling based on the 6 degrees-of-freedom motion. The primary combination of strategies required for coordination of the aircraft in conflict is based on the maximum-robustness principle. To address partial knowledge of the environment, a special token-allocation strategy for coordination with incomplete information is proposed in this paper. To address potential data dropouts, this study damps the solution to achieve coordination. Two extreme scenarios are constructed to examine the proposed methodology. The results showed great collision-avoidance ability in continuous conflicts with multiple aircraft in a highly dynamic 3-D environment.

Keywords

• Collision avoidance
• conflict-detection and resolution
• distributed algorithm
• strategy coordination
• unmanned aerial vehicle
• path planning