The Velocity Assignment Problem for Conflict Resolution with Multiple Aerial Vehicles Sharing Airspace

Authors:
D. Alejo;J. M. Díaz-Báñez;J. A. Cobano;P. Pérez-Lantero;A. Ollero
Affiliations:
Robotics, Vision and Control Group Engineering School, University of Seville, Seville, Spain 41092;Applied Mathematics II Department Engineering School, University of Seville, Seville, Spain 41092;Robotics, Vision and Control Group Engineering School, University of Seville, Seville, Spain 41092;Escuela de Ingeniería Civil en Informática, Universidad de Valparaíso, Valparaíso, Chile 2340000;Robotics, Vision and Control Group Engineering School, University of Seville, Seville, Spain 41092
Venue:
Journal of Intelligent and Robotic Systems
Year:
2013

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Abstract

Efficient conflict resolution methods for multiple aerial vehicles sharing airspace are presented. The problem of assigning a velocity profile to each aerial vehicle in real time, such that the separation between them is greater than a given safety distance, is considered and the total deviation from the initial planned trajectory is minimized. The proposed methods involve the use of appropriate airspace discretization. In the paper it is demonstrated that this aerial vehicle velocity assignment problem is NP-hard. Then, the paper presents three different collision detection and resolution methods based on speed planning. The paper also presents simulations and studies for several scenarios.