南京航空航天大学学报（英文版）2020，Vol.37Issue(2)：175-186,12.
基于改进蚁群算法的无人机冲突解脱技术
Key Technology in Multi?UAV Conflict Detection and Resolution Strategy
摘要
Abstract
Based on ADS?B surveillance data,this paper proposes a multi?unmanned aerial vehicle(multi?UAV) collision detection method based on linear extrapolation for ground?based UAV collision detection and resolution, thus to provide early warning of possible conflicts. To address the problem of multi?UAV conflict,the basic ant colony algorithm is introduced. The conflict simplification model of the traditional basic ant colony algorithm is optimized by adding a speed regulation strategy. A multi?UAV conflict resolution scheme is presented based on speed regulation and heading strategies. The ant colony algorithm is improved by adding angle information and a queuing system. The results show that the improved ant colony algorithm can provide multi?UAV joint escape routes for a multi?UAV conflict situation in airspace. Unlike the traditional ant colony algorithm,our approach converges to the optimization target. The time required for the calculation is reduced by 43.9％,and the total delay distance caused by conflict resolution is reduced by 58.4％.关键词
无人机/地面站/蚁群算法/冲突解脱Key words
unmanned aerial vehicle(UAV)/ground station/ant colony algorithm/conflict resolution分类
交通工程引用本文复制引用
汤新民,季小淇,李腾..基于改进蚁群算法的无人机冲突解脱技术[J].南京航空航天大学学报（英文版）,2020,37(2):175-186,12.基金项目
This work is supported by the Nation?al Natural Science Foundation of China (No. 61773202), the National Key Laboratory of Air Traffic Control (No. SKLATM201706),and the Sichuan Science and Technolo?gy Plan Project(No. 2018JZ0030). （No. 61773202）
