Two-layer optimization to cooperative conflict detection and resolution for UAVs

This paper focuses on the solution for conflict detection and resolution (CDR) of unmanned aerial vehicles (UAVs) by heading control. The cooperative method is proposed. First, the relationships between conflicts involved UAVs are described by the geometric method. The practical and potential conflicts are considered. Then, the CDR problem is formalized as a nonlinear optimization problem so as to minimize maneuver costs. Moreover, a two-layer strategy composed of stochastic parallel gradient descent (SPGD) and interior-point algorithm is designed to efficiently solve the non-convex optimization problem. Finally, our approach is demonstrated on several scenarios and the simulation results show that it can achieve high performance in obtaining near optimal maneuvers for UAVs CDR.