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SLIDE: A Straight Line Conflict Detection and Alerting Algorithm for Multiple Unmanned Aerial Vehicles | IEEE Journals & Magazine | IEEE Xplore

SLIDE: A Straight Line Conflict Detection and Alerting Algorithm for Multiple Unmanned Aerial Vehicles


Abstract:

Conflict detection is an important research issue in Unmanned Aerial Vehicles to ensure safety and collision free flights. In this paper, we first propose a comprehensive...Show More

Abstract:

Conflict detection is an important research issue in Unmanned Aerial Vehicles to ensure safety and collision free flights. In this paper, we first propose a comprehensive analytical framework for a three dimensional conflict detection. Then, we propose SLIDE a new Straight LIne conflict DEtection and alerting algorithm for a set of UAVs to safely share a common airspace. SLIDE is fully distributed and requires a limited state information exchange between UAVs. The assumptions of precise state information and packet-loss free communications are relaxed so as to guarantee the applicability and efficiency of the algorithm in real world situations. A thorough discussion is also presented to deal with appropriate tuning of the different parameters of the collision detection framework. Extensive simulations based on OMNeT++ are used to validate SLIDE and evaluate its performance. Simulation results indicate that SLIDE guarantees a reduced number of false and missed alarms even in high density traffic scenarios and communication perturbed environments, yet it leaves adequate time to accomplish the required maneuver actions.
Published in: IEEE Transactions on Mobile Computing ( Volume: 17, Issue: 5, 01 May 2018)
Page(s): 1190 - 1203
Date of Publication: 08 September 2017

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