Unmanned Aerial Vehicles (UAVs) have recently received notable attention because of their wide range of applications in urban civilian use and in warfare. With air traffic densities increasing, it is more and more important for UAVs to be able to predict and avoid collisions. The main goal of this research effort is to adjust real-time trajectories for cooperative UAVs to avoid collisions in three-dimensional airspace. To explore potential collisions, predictive state space is utilized to present the waypoints of UAVs in the upcoming situations, which makes the proposed method generate the initial collision-free trajectories satisfying the necessary constraints in a short time. Further, a rolling optimization algorithm (ROA) can improve the initial waypoints, minimizing its total distance. Several scenarios are illustrated to verify the proposed algorithm, and the results show that our algorithm can generate initial collision-free trajectories more efficiently than other methods in the common airspace.
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