Ho, Florence, Geraldes, Ruben, Goncalves, Artur, Cavazza, Marc ORCID: 0000-0001-6113-9696 and Prendinger, Helmut (2019) Improved conflict detection and resolution for service UAVs in shared airspace. IEEE Transactions on Vehicular Technology, 68 (2). pp. 1231-1242. ISSN 0018-9545 (Print), 1939-9359 (Online) (doi:https://doi.org/10.1109/TVT.2018.2889459)

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Abstract

In future UAV-based services, UAV (Unmanned Aerial Vehicle) fleets will be managed by several independent flight operation service providers in shared low-altitude airspace. Therefore, Conflict Detection and Resolution (CDR) methods that can solve conflicts---possible collisions between UAVs of different service providers---are a key element of the Unmanned Aircraft System Traffic Management (UTM) system. As our CDR method, we introduce an adaptation of ORCA, which is a state-of-the-art collision avoidance algorithm hitherto mainly used in a limited theoretical scope, to realistic UAV operations. Our approach, called Adapted ORCA, addresses practical considerations that are inherent to the deployment of UAVs in shared airspace, such as navigation inaccuracies, communication overhead, and flight phases. We validate our approach through simulations. First, by empirically tuning the ORCA parameters look-ahead time window and deconfliction distance, we are able to minimize the ORCA generated deviations from the nominal flight path. Second, by simulating realistic UAV traffic for delivery, we can determine a value for separation distance between UAVs that uses airspace efficiently.

Item Type:	Article
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Uncontrolled Keywords:	UAV Coordination, UTM, Conflict Detection and Resolution, Task Allocation, Path Planning
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Faculty / School / Research Centre / Research Group:	Faculty of Engineering & Science > School of Computing & Mathematical Sciences (CMS) Faculty of Engineering & Science
Last Modified:	04 Mar 2022 13:06
URI:	http://gala.gre.ac.uk/id/eprint/22512

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