A Hierarchical Collision Avoidance Architecture for Multiple Fixed-Wing UAVs in an Integrated Airspace

TL;DR

This paper presents a three-layered collision avoidance system for multiple fixed-wing UAVs in integrated airspace, combining path planning, predictive control, and reactive control, validated through simulations.

Contribution

It introduces a novel hierarchical architecture integrating conflict detection and resolution for fixed-wing UAVs with unicycle kinematics.

Findings

Effective collision avoidance demonstrated in simulations

Robustness under deterministic and probabilistic sensing conditions

Improved safety in complex airspace scenarios

Abstract

This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and the geometric reactive control approach, a three-layered collision avoidance system integrating conflict detection and resolution procedures is developed for multiple fixed-wing UAVs modeled by unicycle kinematics subject to input constraints. The effectiveness of the proposed methodology is evaluated and validated via test results of comparative simulations under both deterministic and probabilistic sensing conditions.