Multiple UAV deconfliction via navigation functions

Abstract

Unmanned aerial vehicles (UAVs) offer an unprecedented set of capabilities for many civilian and military missions, including those pertaining to surveillance, monitoring, and detection. In fact, as UAVs continue to become less expensive and easy to operate, they have also become more capable in executing complex mission objectives. In the meantime, the higher levels of maneuverability and dynamic capability for UAVs have necessitated the design of efficient algorithms for conflict resolution among them when operating in close proximity of each other and other manned and unmanned vehicles. In this paper, we consider a variant of multiple UAV collision avoidance referred to as the Deconfliction Problem. We then proceed to develop a multiple UAV deconfliction algorithm via appropriate navigation- or potential-functions. The proposed method combines conflict prediction and resolution, navigation, and control of the unmanned flying vehicles while respecting specific mission requirements. Refinements of the basic control module synthesized from the navigation function approach, in terms of augmenting it with a "moving target" and velocity control, are also discussed. A representative set of simulation scenarios concludes the paper. © 2008 by the American Institute of Aeronautics and Astronautics, Inc.