Multiple UAVs collision avoidance trajectory coordination using distributed receding horizon optimization

To the problem of multiple UAVs collision avoidance trajectory coordination in the same aerial space, a distributed receding horizon optimization model was established. Then, a state prediction based trajectory coordination algorithm was presented. Several simulation results show that our method can bring a within-network collision avoidance capability for multiple UAVs, and multiple UAVs can coordinate with each other effectively on condition that there are communication link between two conflict UAVs.