The Velocity Assignment Problem for Conflict Resolution with Multiple Aerial Vehicles Sharing Airspace
The Velocity Assignment Problem for Conflict Resolution with Multiple Aerial Vehicles Sharing Airspace
复制标题
多飞行器共享空域冲突解决的速度分配问题
DOI：
10.1007/s10846-012-9768-4
复制
发表时间：
2012
影响因子：
3.3
通讯作者：
A. Ollero
中科院分区：
文献类型：
--
作者：
D. Alejo;J. Díaz;J. A. Cobano;P. Pérez;A. Ollero
提出了一种多飞行器共享空域的有效冲突消解方法。考虑了为每个飞行器实时分配速度分布，使得它们之间的间隔大于给定的安全距离的问题，并使与初始规划轨迹的总偏差最小。建议的方法涉及使用适当的空域离散化。文中证明了该飞行器速度分配问题是NP难的。在此基础上，提出了基于速度规划的三种不同的碰撞检测和解决方法。文中还给出了几种场景的仿真和研究。
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.