Novel Conflict Resolution Model for Multi‐Uav Based on Cpn and 4d Trajectories

Abstract

This paper presents a conflict resolution (CR) model in colored Petri net (CPN) formalism for 4D (three-dimensional + time) planned trajectories of cooperating unmanned aerial vehicles (UAVs). The CR model is integrated with the conflict detection algorithm using spatial data structure to detect time-based separation infringements among UAVs and to generate an intuitionistic representation of 4D conflict information. The main contribution of this paper is the proposed CR model, which is based on the logic of cause-and-effect analysis. This model not only chooses a preferred trajectory according to the priority for solving the current conflict but also considers the follow-up influence (domino effect) to update segments and conflicts. The novel causal model exploits the state space to achieve the solution using CPN. The model is validated with the experimental results of a scenario involving multiple UAVs (composed of clusters) cruising in a bounded region and exhibits the main advantages of scalability, efficiency, and short execution time.

Fixed‐time backstepping distributed cooperative control for multiple unmanned aerial vehicles

“…Unmanned aerial vehicle (UAV) technology has attracted more attention of researchers and engineers in the field of military and civil [1], specially, multi-UAVs collaboration systems have been becoming a significant research topic. Compared with a single UAV, multiple UAVs can complete complex tasks and provide higher efficiency in many fields such as forest fire monitoring, detection and fighting [2], and surveillance [3].…”

“…The main contributions of this study are listed as follows: (1) In order to enhance the flight safety of the overall formation team, a fixed-time ESO is proposed to compensate external disturbances for multi-UAVs;…”

Aircraft Trajectory Optimization for Collision Avoidance Using Stochastic Optimal Control

“…In addition, various mathematical theories and tools have been introduced into this research area, such as Monte Carlo simulations and their variants , as well as Bayesian optimal design to solve the aircraft CA problem. A colored Petri net formalism is utilized in o solve the collision problems of an unmanned aerial vehicle. By controlling the shape and orientation of multi‐agent systems developed a method to avoid collision with stationary or non‐convex moving obstacles.…”