Geometry-Based Cooperative Conflict Resolution for Multi-AAV Combining Heading and Speed Control

A safe and efficient conflict resolution method for Autonomous Aerial Vehicles (AAVs) is essential for the safe operation of multi-AAV systems in complex environments. This paper proposes a geometry-based decentralized cooperative conflict resolution method. Firstly, the safe separation constraints for pairwise conflicts are analyzed, and the linearization of constraints is achieved by using the space-mapping method. The right-side policy is employed to establish the consensus among AAVs and ensure their coordinated flight. Secondly, a consensus constraint decoupling rule is established. It enables each AAV to obtain the feasible maneuver range for each pairwise conflict it involved independently. A rule for measuring the critical degree of conflicts is designed, which facilitates AAVs to generate feasible strategies in crowded scenarios. Thirdly, the conflict resolution problem is formulated as an optimization problem, with the objective function designed to minimize the additional consumption incurred from avoidance maneuvers. The task requirements of each AAV are considered in the objective function, which determines its preference on heading and speed maneuvers. The proposed method is demonstrated in representative scenarios and compared with existing algorithms. The results show that our method is capable of dealing with complex conflicts with less consumption and demonstrates robustness.