Simulating Shared Airspace for Service UAVs with Conflict Resolution

摘要

In future UAV-based services, UAV fleets will be managed by independent service providers in shared low-altitude airspace. Therefore, Conflict Detection and Resolution (CDR) methods that solve conflicts, i.e. possible collisions, between UAVs of all service providers are a key element of the Unmanned Aircraft System Traffic Management (UTM) system. We present a top-to-bottom algorithmic system with an extension to UAV operations of ORCA, a state-of-the-art algorithm in robotics. Then, using extreme-conflict situations, we empirically determine optimal parameter values for our adapted ORCA, and we observe a better performance compared to the standard use of ORCA. Finally, using realistic UAV traffic situations for delivery, we perform extensive simulations to study the potential occurrence and distribution of collisions, and to assess safety parameters for CDR.