Integrated conflict resolution for efficient autonomous hazard avoidance

During a mission, unmanned aerial vehicles (UAVs) are exposed to several types of hazards. These hazards can be divided into two main categories: the static part and the dynamic part of the environment. Databases with the known elements in the static environment and the available information on the dynamic environment form the basis for planning a conflict-free route. New information on the dynamic part of the environment may become available during the mission, thus, possible conflicts with the dynamic part of the environment must be detected and avoided in flight. Since performing an avoidance maneuver may lead to a new conflict with another part of the environment, it is necessary to integrate constraints from the available conflict-detection functions when determining an avoidance maneuver. This paper aims to analyze different approaches to developing an integrated conflict-resolution function. Subsequently, the implementation of the concept in a simulation environment is discussed.