Acevedo, José Joaquín (University of Seville), Castaño, Ángel Rodríguez (University of Seville), Andrade-Pineda, Jose L. (Universidad de Sevilla), Ollero, Anibal (Universidad de Sevilla)

A 4D Grid Based Approach for Efficient Conflict Detection in Large-Scale Multi-UAV Scenarios

Scheduled for presentation during the Regular Session "Airspace Management" (MoD12T1), Monday, November 25, 2019, 10:50−11:10, Room T1

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), November 25-27, 2019, Cranfield University, Cranfield, UK

This information is tentative and subject to change. Compiled on April 16, 2024

Abstract

This paper proposes an algorithm to detect conflicts among UAVs from a strategic point of view. The method is based on the representation of the airspace as a 4D grid of cells. Given a set of UAVs with their scheduled 4D trajectories (their flight plans), the whole scenario is discretized as a 4D grid and the problem is solved by filling the appropriate cell for each way-point from the trajectories and checking the neighboring cells. The proposed method is tested and compared against a traditional algorithm getting a significantly better performance. The proposed method also scales very well with increasing number of UAVs and way-points per trajectory.