Flight Conflict Detection Algorithm for UAV and MAV Under the Whole Airspace

摘要

The distributed market mechanism based on agent's BDI model (Believe, Desire, Intention, BDI) is applied to flight conflict detection about UAV (Unmanned Aerial Vehicle, UAV) and MAV (Manned Aerial Vehicle, MAV) under the whole airspace. The state between announce agent and bid agent was changed by the BDI action driving rules. In order to reduce the range of bid agents, the threat operator is put forward to judge flight conflict. Furthermore, a new computational method of bidding value is set up by the vector of relative velocity. The simulation results show that distributed market mechanism can allocate the most threatening UAV to corresponding MAV and the time efficiency analysis indicates that it has hotter time efficiency than using throat matrix.