CPC G08G 5/0043 (2013.01) [G08G 5/0013 (2013.01); G08G 5/0021 (2013.01); G08G 5/0073 (2013.01); H04L 67/125 (2013.01); G08G 5/0069 (2013.01)] | 16 Claims |
1. A detect and avoid method for an unmanned aerial vehicle (UAV) comprising circuitry, the method comprising:
receiving, by the UAV, an environment configuration from a traffic management server, the environment configuration including at least a size of a tessellated grid of cells representative of a conflict zone, a resolution of the grid of cells and a suitable time horizon parameter representative of a required time for conflict detection;
transmitting, by the UAV, one or more of a position and a set of one or more grid cell identifiers representing waypoints;
receiving, by the UAV, for a given time period, a set of values associated with identified cells of the grid of cells, the set of values identifying a likelihood of conflict for one or more of the identified cells; and
determining, by the UAV, an updated set of the one or more grid cell identifiers if the set of values identifying the likelihood of conflict is non-zero;
wherein the determining, by the UAV, the updated set of the one or more grid cell identifiers if the set of values identifying the likelihood of conflict is non-zero includes:
performing an optimization of the set of values by determining a minimization of Σi=1nraijxij,t−Σi=1nr(pij)k,txij,t, wherein pij represents value data, aij represents a known profit of UAV j in utilizing the grid cell i along its trajectory, xij,t is a binary variable that represents the occupancy of grid cell i by the UAV j, and t represents a time.
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