Cooperative Multi-UAV Collision Avoidance Based on a Complex Network

The conflict resolution problem in cooperative unmanned aerial vehicle (UAV) clusters sharing a three-dimensional airspace with increasing air traffic density is very important. This paper innovatively solves this problem by employing the complex network (CN) algorithm. The proposed approach allows...

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Main Authors: Yang Huang, Jun Tang, Songyang Lao
Format: Article
Language:English
Published: MDPI AG 2019-09-01
Series:Applied Sciences
Subjects:
Online Access:https://www.mdpi.com/2076-3417/9/19/3943
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spelling doaj-e1a367c2df1c447eab53d0c906e6fde12020-11-25T02:12:18ZengMDPI AGApplied Sciences2076-34172019-09-01919394310.3390/app9193943app9193943Cooperative Multi-UAV Collision Avoidance Based on a Complex NetworkYang Huang0Jun Tang1Songyang Lao2College of Systems Engineering, National University of Defence Technology, Changsha 410073, ChinaCollege of Systems Engineering, National University of Defence Technology, Changsha 410073, ChinaCollege of Systems Engineering, National University of Defence Technology, Changsha 410073, ChinaThe conflict resolution problem in cooperative unmanned aerial vehicle (UAV) clusters sharing a three-dimensional airspace with increasing air traffic density is very important. This paper innovatively solves this problem by employing the complex network (CN) algorithm. The proposed approach allows a UAV to perform only one maneuver—that of the flight level change. The novel UAV conflict resolution is divided into two steps, corresponding to the key node selection (KS) algorithm based on the node contraction method and the sense selection (SS) algorithm based on an objective function. The efficiency of the cooperative multi-UAV collision avoidance (CA) system improved a lot due to the simple two-step collision avoidance logic. The paper compares the difference between random selection and the use of the node contraction method to select key nodes. Experiments showed that using the node contraction method to select key nodes can make the collision avoidance effect of UAVs better. The CA maneuver was validated with quantitative simulation experiments, demonstrating advantages such as minimal cost when considering the robustness of the global traffic situation, as well as significant real-time and high efficiency. The CN algorithm requires a relatively small computing time that renders the approach highly suitable for solving real-life operational situations.https://www.mdpi.com/2076-3417/9/19/3943Multi-UAVcollision avoidancecomplex networkkey nodesrobustnessconnected component
collection DOAJ
language English
format Article
sources DOAJ
author Yang Huang
Jun Tang
Songyang Lao
spellingShingle Yang Huang
Jun Tang
Songyang Lao
Cooperative Multi-UAV Collision Avoidance Based on a Complex Network
Applied Sciences
Multi-UAV
collision avoidance
complex network
key nodes
robustness
connected component
author_facet Yang Huang
Jun Tang
Songyang Lao
author_sort Yang Huang
title Cooperative Multi-UAV Collision Avoidance Based on a Complex Network
title_short Cooperative Multi-UAV Collision Avoidance Based on a Complex Network
title_full Cooperative Multi-UAV Collision Avoidance Based on a Complex Network
title_fullStr Cooperative Multi-UAV Collision Avoidance Based on a Complex Network
title_full_unstemmed Cooperative Multi-UAV Collision Avoidance Based on a Complex Network
title_sort cooperative multi-uav collision avoidance based on a complex network
publisher MDPI AG
series Applied Sciences
issn 2076-3417
publishDate 2019-09-01
description The conflict resolution problem in cooperative unmanned aerial vehicle (UAV) clusters sharing a three-dimensional airspace with increasing air traffic density is very important. This paper innovatively solves this problem by employing the complex network (CN) algorithm. The proposed approach allows a UAV to perform only one maneuver—that of the flight level change. The novel UAV conflict resolution is divided into two steps, corresponding to the key node selection (KS) algorithm based on the node contraction method and the sense selection (SS) algorithm based on an objective function. The efficiency of the cooperative multi-UAV collision avoidance (CA) system improved a lot due to the simple two-step collision avoidance logic. The paper compares the difference between random selection and the use of the node contraction method to select key nodes. Experiments showed that using the node contraction method to select key nodes can make the collision avoidance effect of UAVs better. The CA maneuver was validated with quantitative simulation experiments, demonstrating advantages such as minimal cost when considering the robustness of the global traffic situation, as well as significant real-time and high efficiency. The CN algorithm requires a relatively small computing time that renders the approach highly suitable for solving real-life operational situations.
topic Multi-UAV
collision avoidance
complex network
key nodes
robustness
connected component
url https://www.mdpi.com/2076-3417/9/19/3943
work_keys_str_mv AT yanghuang cooperativemultiuavcollisionavoidancebasedonacomplexnetwork
AT juntang cooperativemultiuavcollisionavoidancebasedonacomplexnetwork
AT songyanglao cooperativemultiuavcollisionavoidancebasedonacomplexnetwork
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