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Improved conflict detection and resolution for service UAVs in shared airspace

Improved conflict detection and resolution for service UAVs in shared airspace

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
Additional Information: "IEEE seeks to maximize the rights of its authors and their employers to post the author-submitted, peer-reviewed, and accepted manuscript of an article on the author's personal web site or on a server operated by the author's employer. Additionally, IEEE allows its authors to follow mandates of agencies that fund the author's research by posting author-submitted, peer-reviewed, and accepted manuscript of their articles in the agencies' publicly accessible repositories. No third party (other than authors and employers) may post IEEE-copyrighted material without obtaining the necessary licenses or permissions from the IEEE Intellectual Property Rights Office or other authorized representatives of the IEEE."
Uncontrolled Keywords: UAV Coordination, UTM, Conflict Detection and Resolution, Task Allocation, Path Planning
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Faculty / Department / Research Group: Faculty of Architecture, Computing & Humanities
Faculty of Architecture, Computing & Humanities > Department of Computing & Information Systems
Last Modified: 20 Jun 2019 15:29
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: None
URI: http://gala.gre.ac.uk/id/eprint/22512

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