Abstract
This paper presents a collision avoidance (CA) algorithm for cooperative unmanned aerial vehicles (UAVs) sharing three-dimensional airspace. The method based on geometric optimization model aims to provide feasible optimal trajectory for the selected UAV, with a local optimization scope at operational level. It generates optimal flight trajectory by the objective function (the integration equation of distance, time and track adjustment costs) in response to a set of restrictions (performance, state and distance constraints) reducing the solution space. The CA maneuver has been validated with various simulations, owning such advantages as optimization spending a minimal cost, robustness considering the global traffic situation, scalability possessing explicit coordinates of waypoints and efficiency in implementing different tests of tuning parameters.
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