SLIDE: Straight Line Confict Detection and Alerting Algorithm for Multiple Unmanned Aerial Vehicles (2017)

Journal Article

Belghith, Abdelfettah . 2017

• Magazine \ Newspaper: IEEE Transactions on Mobile Computing (TMC)
• Issue Number: 11
• Volume Number: 16

Publication Abstract

Conflict detection is an important research issue in Unmanned Aerial Vehicles to ensure safety and collision free flights. In this paper, we first propose a comprehensive analytical framework for a three dimensional conflict detection. Then, we propose SLIDE a new Straight Line Confict Detection and Alerting Algorithm for Multiple Unmanned Aerial Vehicles for a set of UAVs to safely share a common airspace. SLIDE is fully distributed and requires a limited state information exchange between UAVs. The assumptions of precise state information and packet-loss free communications are relaxed so as to guarantee the applicability and efficiency of the algorithm in real world situations. A thorough discussion is also presented to deal with appropriate tuning of the different parameters of the collision detection framework. Extensive simulations based on OMNeT++ are used to validate SLIDE and evaluate its performance.  Simulation results indicate that SLIDE guarantees a reduced number of false and missed alarms even in high density traffic scenarios and communication perturbed environments, yet it leaves adequate time to accomplish the required maneuver actions.