An Artificial Potential Field Based Cooperative UAV Conflict Detection and Resolution under Uncertain Communication Environment

摘要

Conflict Detection and Resolution (CD&R) technology is essential for safety operation of Unmanned Aerial Vehicle (UAV). The Artificial Potential Field (APF) method, which is widely used in robot path planning domain, have advantages of low computational cost and fast calculation ability. However basic APF method may lead the UAV to the “repulsive dilemma”. Considering each UAV as their obstacles, we use APF method for UAV's collision avoidance and provide a priority allocation rules and exempt mechanism based on geometry for high-efficiency cooperative conflict resolution, especially in uncertain communication circumstance. In order to validate the effectiveness of the proposed method, we set three cases of experiment and introduce the “clone airspace” inspired by the concept of cell in chemistry sphere for improving the simulation performance. Using the proposed CD&R method, the result shows a decrease of more than 46% of possible Near Mid-Air Collision (NMAC) with high safety and efficiency.