Unmanned vehicle and method for a first unmanned vehicle to avoid collision with a second unmanned vehicle

Abstract

A decentralized method for a first unmanned vehicle (UV) is provided for avoiding a conflict with a second UV. The method includes determining whether a conflict with the second UV is likely to occur based on the current movement plan of the first UV and the current movement plan of the second UV received from the second UV. If it is determined that a conflict with the second UV is likely to occur, the method also includes performing at least one iteration of the following steps: a) determining a candidate movement plan for the first UV and receiving the candidate movement plan of the second UV from the second UV; b) using a first cost function to determine a first cost value for different combinations of the current movement plan and one of the candidate movement plans of the first UV and the current movement plan and one of the candidate movement plans of the second UV; c) receiving a second cost value for the different combination from the second UV, wherein the second cost value is calculated by the second UV using a second cost function; d) combining the first cost value and the second cost value to determine a third cost value for the different combination; and e) updating the current movement plan of the first UV to the movement plan of the first UV included in the combination that exhibits the best third cost value in the different combinations.

Description

Technical Field

[0001] The present disclosure relates to decentralized mobility planning for unmanned vehicles (UVs). Specifically, examples relate to UVs and methods for a first UV to avoid collision with a second UV. Background Art

[0002] UVs such as unmanned aerial vehicles (UAVs) navigating in the same airspace require at least basic technology for collision avoidance to avoid loss of vehicles and cargo. Specifically, it is desirable to avoid critical situations at an early stage rather than when they are about to occur.

[0003] In centralized flight planning, an unmanned traffic management (UTM) server is communicatively coupled to a UAV and controls the UAV's flight plan. However, if the UAV cannot communicate with the UTM server (e.g., due to a failure at the UTM or the server), the UTM server cannot resolve an emergency situation with another UAV. Even in situations where the UAV is able to communicate with the UTM server, waiting for a response from the UTM server may not be the best solution if the UAV is already in close proximity to another UAV.

[0004] Therefore, UV coordination may need to be improved to avoid collisions. Summary of the Invention

[0005] This need is met by the device and method according to the independent claims. Advantageous embodiments are set forth in the dependent claims.

[0006] According to a first aspect, the present disclosure provides a method for a first UV to avoid a conflict with a second UV. The method includes: determining whether a conflict with the second UV is likely to occur based on the current movement plan of the first UV and the current movement plan of the second UV received from the second UV. If it is determined that a conflict with the second UV is likely to occur, the method also includes performing at least one iteration of the following steps: a) determining a candidate movement plan for the first UV and receiving a candidate movement plan for the second UV from the second UV; b) using a first cost function, determining a first cost value for different combinations of the current movement plan and one of the candidate movement plans of the first UV and the current movement plan and one of the candidate movement plans of the second UV; c) receiving a second cost value for the different combination from the second UV, wherein the second cost value is calculated by the second UV using a second cost function; d) combining the first cost value and the second cost value to determine a third cost value for the different combination; and e) updating the current movement plan of the first UV to the movement plan of the first UV included in the combination that exhibits the best third cost value in the different combination.

[0007] According to a second aspect, the present disclosure provides a UV capable of avoiding a conflict with another UV. The UV includes a propulsion system and a circuit, and the circuit is configured to determine whether a conflict with another UV is likely to occur based on the current movement plan of the UV and the current movement plan of the other UV received from the other UV. If it is determined that a conflict with the other UV is likely to occur, the circuit is further configured to perform at least one iteration of the following steps: a) determining a candidate movement plan of the UV and receiving the candidate movement plan of the other UV from the other UV; b) using a first cost function to determine a first cost value for different combinations of one of the current movement plan and candidate movement plan of the UV and one of the current movement plan and candidate movement plan of the other UV; c) receiving a second cost value for the different combination from the other UV, wherein the second cost value is calculated by the other UV using a second cost function; d) combining the first cost value and the second cost value to determine a third cost value for the different combination; and e) updating the current movement plan of the UV to the movement plan of the UV included in the combination that exhibits the best third cost value in the different combinations.

[0008] Aspects of the present disclosure may enable decentralized movement planning of UVs so as to achieve conflict resolution through direct communication between involved UVs without the need for a UTM server. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Examples of apparatus and / or methods will now be described, by way of example only, with reference to the accompanying drawings, in which

[0010] Figure 1 A flow chart illustrating an example of a method for a first UV to avoid conflict with a second UV;

[0011] Figure 2 A flow chart illustrating an example of decentralized negotiation of a flight plan; and

[0012] Figures 3 to 9 An exemplary flight scenario is shown. DETAILED DESCRIPTION

[0013] Therefore, although the further examples are capable of various modifications and alternative forms, some specific examples thereof are shown in the drawings and will be described in detail subsequently. However, this detailed description does not limit the further examples to the specific forms described. The further examples may cover all modifications, equivalents, and alternatives that fall within the scope of this disclosure. Throughout the description of the drawings, identical or similar numbers represent identical or similar elements, which, when compared to each other, may be implemented identically or in modified form while providing the same or similar functions.

[0014] It should be understood that when an element is referred to as being "connected" or "coupled" to another element, these elements may be directly connected or coupled via one or more intermediate elements. If two elements A and B are combined using "or", unless otherwise explicitly or implicitly defined, this will be understood to disclose all possible combinations, i.e., only A, only B, and A and B. Alternative wording for the same combination is "at least one of A and B" or "A and / or B". The same applies to combinations of more than two elements, mutatis mutandis.

[0015] The terms used herein to describe a specific instance are not intended to limit other instances. Whenever a singular form is used, such as "one", "an", and "the", and only using a single element is neither explicitly nor implicitly defined as mandatory, further examples may also use multiple elements to implement the same function. Similarly, when a function is subsequently described as being implemented using multiple elements, other examples may use a single element or processing entity to implement the same function. It should also be understood that the terms "consisting of," "comprising," "including," and / or "comprising" specify the presence of the features, integers, steps, operations, processes, actions, elements, and / or components when used, but do not exclude the presence or addition of one or more other features, integers, steps, operations, processes, actions, elements, components, and / or any combination thereof.

[0016] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same common meaning as in the art to which embodiments belong.

[0017] Figure 1 A flow chart of a method 100 for a first UV to avoid a collision with a second UV is shown. The first UV and the second UV can be any type of vehicle. For example, the first UV and the second UV can be UAVs (e.g., drones), unmanned ground vehicles (UGVs; e.g., autonomous cars), or unmanned surface vessels (USVs; e.g., autonomous ships or boats). A collision is a serious situation between a first UV and a second UV, such as a collision or passing close together. A collision between UVs can result in loss or damage to the UVs and / or the cargo being transported by the UVs. Method 100 can be used to avoid such a critical situation at an early stage (i.e., before the critical situation becomes imminent).

[0018] Method 100 includes determining 102 whether a collision between the first UV and the second UV is likely to occur based on a current movement plan of the first UV and a current movement plan of the second UV received from the second UV. The current movement plan of the first UV includes information about the time course of a spatial region reserved for the movement of the first UV. Similarly, the current movement plan of the second UV includes information about the time course of a spatial region reserved for the movement of the second UV. In other words, the movement plan of the UV describes a time-space region that is specifically reserved for the UV when the UV navigates in a zone (region, area). For example, the movement plan may include a 3D (three-dimensional) or 2D (two-dimensional) position (i.e., trajectory) over time, and optionally the shape and size of a surrounding space reserved for the corresponding UV. The surrounding space may, for example, cover the UV range and an optional cargo range, as well as a further optional safety margin to compensate for external influences (e.g., wind), UV navigation uncertainty, and / or UV sensor uncertainty (e.g., uncertainty of the position sensor).

[0019] Determining (calculating) 102 whether a collision between the first UV and the second UV is likely to occur may, for example, include determining whether a collision between the first UV and the second UV or a passage between the first UV and the second UV with a small distance between them is likely. Since the movement plans of the first UV and the second UV each include information about the time course of a spatial region reserved for movement of the respective UVs, a collision situation between the first UV and the second UV can be determined with high accuracy.

[0020] If it is determined that a collision with the second UV is unlikely to occur, method 100 includes continuing at 114 to control the movement of the first UV based on the initial current movement plan of the first UV. For example, if the likelihood of a collision with the second UV is below a predetermined threshold level, if the trajectories of the first UV and the second UV do not indicate a collision of the UVs, or if the trajectories of the first UV and the second UV indicate that the UVs passed by at least a predetermined distance, it may be determined that a collision with the second UV is unlikely to occur. In other words, if no collision with the second UV is expected, the first UV continues to navigate (travel) based on the initial current movement plan of the first UV.

[0021] If it is determined that a collision with the second UV may occur, the method 100 includes performing at least one iteration of steps 104 to 112 described below for rewriting the movement plan so as to avoid the collision with the second UV.

[0022] Method 100 includes determining 104 a candidate movement plan for a first UV and receiving 105 a candidate movement plan for a second UV from a second UV. The candidate movement plan for the first UV and the candidate movement plan for the second UV are updated movement plans for avoiding conflicts between the first UV and the second UV. For example, the candidate movement plan for the first UV may be determined based on the current movement plan of the first UV or one or more candidate movement plans determined in previous iterations of steps 104 to 112.

[0023] Furthermore, method 100 includes determining 106 first cost values ​​for different combinations of a current movement plan and one of the candidate movement plans of the first UV, and a current movement plan and one of the candidate movement plans of the second UV, using a first cost function. For example, the first cost values ​​may be determined for the following combinations: a combination of the current movement plan of the first UV and a candidate movement plan of the second UV, a combination of the candidate movement plan of the first UV and the current movement plan of the second UV, a combination of the candidate movement plan of the first UV and the candidate movement plan of the second UV, and a combination of the current movement plan of the first UV and the current movement plan of the second UV.

[0024] The first cost function is a function that predicts a cost of the first UV when following the current movement plan and one of the candidate movement plans of the first UV and also considers potential movement plans of the second UV.

[0025] The first cost function may include various terms to account for different costs that may be incurred by the travel plan. For example, the first cost function may include at least one cost associated with the energy consumption of the first UV, at least one cost associated with the delay of the first UV arriving at the destination, at least one cost associated with the risk of loss of the first UV, at least one cost associated with the risk of loss of cargo transported by the first UV, and / or at least one cost associated with the priority of the first UV's trip. In other examples, the first cost function may include fewer, more, or different terms.

[0026] To determine the first cost value, the first cost function considers one or more attributes of the first UV, such as the remaining energy available to the first UV, the weight of the first UV and / or cargo being transported by the first UV, the destination of the first UV, the capacity of the first UV, or the current configuration of the first UV. In other words, the first cost function is used to determine the cost for different combinations of travel plans from the perspective of the first UV.

[0027] The method 100 also includes receiving 108 a second cost value for the different combinations from the second UV. The second cost value is calculated by the second UV using a second cost function. The second cost function considers properties of the second UV, similar to those described above for the first cost function. In other words, the second cost function is used to determine the cost for the different combinations of movement plans from the perspective of the second UV.

[0028] Furthermore, method 100 includes combining the first cost value and the second cost value to determine a third cost value for the different combinations. Since the first cost value is determined based on the angle of the first UV, and since the second cost value is determined based on the angle of the second UV, combining them into a third cost value allows for a fair evaluation of different combinations of mobility plans, since the angles of both UVs are taken into account. In other words, the priorities, goals, capacities, etc. of the two UVs involved can be taken into account. For example, the first cost value and the second cost value can be added together, and optionally weighted before the addition.

[0029] The method 100 includes updating 112 the current movement plan of the first UV to the movement plan of the first UV included in the combination of the third cost value that performs best in the different combination. That is, the current movement plan of the first UV is updated to one of the current movement plan of the first UV and the candidate movement plan of the first UV included in the combination of the third cost value that performs best. In other words, if the current movement plan of the first UV is included in the combination of the third cost value that performs best in the different combination, the current movement plan of the first UV remains as it is, or, if the candidate movement plan of the first UV is included in the combination of the third cost value that performs best in the different combination, the current movement plan of the first UV is exchanged with the candidate movement plan. Therefore, the first UV can avoid conflict with the second UV and continue to move (travel) using the movement plan that results in the lowest cost.

[0030] Method 100 can allow for avoiding conflicts (e.g., collisions or critical situations) between a first UV and a second UV. Furthermore, method 100 can allow for conflict avoidance to occur much earlier in time, i.e., before a critical situation occurs. Method 100 can allow for resolving potential conflicts between a first UV and a second UV by taking into account the priorities, goals, capacities, etc. of the two UVs involved. Furthermore, method 100 can allow for resolving potential conflicts between a first UV and a second UV in a decentralized manner, i.e., involving only the affected UVs without requiring an additional ground station.

[0031] To minimize the total cost, method 100 may optionally further include determining whether the third cost value of the combination that exhibited the best third cost value in the most recent (latest) iteration of steps 104 to 112 meets a predetermined quality standard. In other words, it is determined whether the cost of the combination of movement plans selected in step 112 of the most recent iteration is already sufficiently low. If the third cost value of the combination that exhibited the best third cost value in the most recent iteration does not meet the predetermined quality standard, method 100 includes performing another iteration of the above steps 104 to 112. On the other hand, if the third cost value of the combination that exhibited the best third cost value in the most recent iteration meets the first predetermined quality standard, method 100 includes controlling the movement of the first UV based on the updated current movement plan determined in the most recent iteration. Therefore, the total cost for resolving potential conflicts between the first UV and the second UV can be iteratively reduced until the cost is sufficiently low. Therefore, movement plans with high costs can be rejected.

[0032] The second UV may perform steps equivalent to steps 102 to 114 described above. To provide the required information to the second UV, method 100 may optionally include one or more of the following: sending the current movement plan of the first UV to the second UV, sending the candidate movement plan of the first UV to the second UV, and sending the first cost value for the different combination to the second UV.

[0033] Although some elements of the proposed technique for conflict resolution between two UVs are described above with reference to method 100, the following description will be of interest to those skilled in the art. Figure 2 A more detailed example of a method 200 for resolving conflicts between a first UV and a second UV is described. Figure 2 In the example of FIG, it is assumed that the first UV and the second UV are UAVs. However, the method 200 can be similarly used for other vehicles that autonomously follow individual movement plans, such as UGVs or USVs.

[0034] exist Figure 2In the example of FIG, it is assumed that any UAV entering a specific zone (region, area) can communicate with other UAVs in the area, possibly via a relay. In addition, each UAV can follow a flight plan, which may change during flight. In addition, it is assumed that each UAV has a valid flight plan at all times. Similar to the "movement plan" for UVs described above, the flight plan of a UAV describes a corresponding time-space area that is reserved specifically for the UAV when the corresponding UAV navigates (moves) in the area. The area is a predefined geographical area. For example, the flight plan may include a 3D position (i.e., a trajectory) over time, and optionally includes the shape and size of the surrounding space reserved for the corresponding UAV. The surrounding space can, for example, cover the UAV range and an optional cargo range as well as a further optional safety margin to compensate for external influences (e.g., wind), the UAV's navigation uncertainty and / or the UAV's sensor uncertainty (e.g., position sensor uncertainty).

[0035] Similar to what is described above for method 100 , the various steps of method 200 are performed autonomously by the first and second UAVs in flight.

[0036] After the two UAVs enter the area, they establish a communication channel for data exchange (e.g., via wireless communication technology such as wireless LAN, cellular network, or Bluetooth).

[0037] After establishing the communication channel, the first UAV sends its current flight plan P to the second UAV in step 202. The second UAV receives the current flight plan P of the first UAV in step 204 and sends the current flight plan Q of the second UAV to the first UAV in step 206. In step 208, the first UAV receives the current flight plan Q of the second UAV.

[0038] In step 210, the first UAV determines whether a conflict with the second UAV is likely to occur based on the first UAV's current flight plan P and the received second UAV's current flight plan Q. In parallel, in step 212, the second UAV determines whether a conflict with the first UAV is likely to occur based on the second UAV's current flight plan Q and the received first UAV's current flight plan P.

[0039] If the first UAV determines that a collision with the second UAV is unlikely to occur, then in step 254 the first UAV continues to control its flight (movement) based on its initial current flight plan P. Similarly, if the second UAV determines that a collision with the first UAV is unlikely to occur, then in step 256 the second UAV continues to control its flight (movement) based on its initial current flight plan P. In other words, the first UAV and the second UAV continue their flights based on their original flight plans.

[0040] If the first UAV determines that a collision with the second UAV may occur, the first UAV stores its initial current flight plan P as flight plan P0 in step 214 and determines (calculates, calculates) at least one candidate flight plan P' for the first UAV in step 216. For example, the first UAV may determine the candidate flight plan P' based on its current flight plan P.

[0041] Similarly, if the second UAV determines that a collision with the first UAV may occur, the second UAV stores its initial current flight plan Q as flight plan Q0 in step 218 and determines (calculates, calculates) at least one candidate flight plan Q′ for the second UAV in step 220. For example, the second UAV may determine the candidate flight plan Q′ based on its current flight plan Q.

[0042] In other words, one or more new proposed flight plans are determined in steps 216 and 220 that have the potential to reduce the overall cost.

[0043] Subsequently, in steps 222 through 228, candidate flight plans P' and Q' are exchanged between the first UAV and the second UAV. In step 222, the first UAV sends its candidate flight plan P' to the second UAV. Similarly, in step 224, the second UAV sends its candidate flight plan Q' to the first UAV. In step 226, the first UAV receives the second UAV's candidate flight plan Q', and in step 228, the second UAV receives the first UAV's candidate flight plan P'.

[0044] In step 230, the first UAV uses a first cost function f(p, q, C) to determine first cost values ​​for different combinations of the first UAV's current flight plan P and one of the candidate flight plans P' with the second UAV's current flight plan Q and one of the candidate flight plans Q'. The independent variable p of the first cost function represents the first UAV's current flight plan P and one of the candidate flight plans P'. The independent variable q of the first cost function represents the second UAV's current flight plan Q and one of the candidate flight plans Q'. The first cost function takes into account the attribute C of the first UAV, so that the first cost value represents the cost for different combinations of flight plans from the perspective of the first UAV. For example, the first cost value can be determined for all possible combinations of the first UAV's current flight plan P and one of the candidate flight plans P' with the second UAV's current flight plan Q and one of the candidate flight plans Q'.

[0045] In step 232, the second UAV similarly determines second cost values ​​for different combinations of the first UAV's current flight plan P and one of the candidate flight plans P' with the second UAV's current flight plan Q and one of the candidate flight plans Q' using a second cost function f(p, q, D). Compared to the first cost function f(p, q, C), the second cost function f(p, q, D) takes into account an attribute D of the second UAV instead of an attribute C of the first UAV, such that the second cost values ​​indicate the costs for different combinations of flight plans from the perspective of the second UAV.

[0046] The attributes C and D of the UAV may include, for example, one or more of the remaining energy available to the corresponding UAV, the weight of the corresponding UAV and / or the weight of the cargo being transported by the corresponding UAV, the destination of the corresponding UAV, the capacity of the corresponding UAV, and the current configuration of the corresponding UAV. In some examples, fewer, more, or different attributes may be considered.

[0047] Cost functions f(p, q, C) and f(p, q, D) predict the cost to the respective UAV when following a specific flight plan p, q, given the specific flight plan q, p of another UAV. More precisely, cost functions f(p, q, C) and f(p, q, D) provide the predicted cost from the perspective of each UAV. Any UAV in the area should be able to evaluate such cost functions in order to fairly resolve conflicts.

[0048] For example, the first cost function f(p, q, C) includes at least one of the following: at least one cost associated with the energy consumption of the first UAV; at least one cost associated with the delay of the first UAV in arriving at the destination; at least one cost associated with the risk of loss of the first UAV; at least one cost associated with the risk of loss of cargo transported by the first UAV; and at least one cost associated with the priority of the first UAV's trip. In some examples, fewer, more, or different terms may be used.

[0049] In some examples, the first cost function f(p, q, C) may be defined as follows:

[0050] f(p,q,C)=b*(u1+u2+u3+u4) (1)

[0051] Wherein, b represents an item related to the priority of the first UAV's trip, u1 represents a cost item related to the energy consumption of the first UAV, u2 represents a cost item related to the delay of the first UAV in arriving at the destination indicated in the initial current flight plan, u3 represents a cost item related to the risk of loss of the first UAV, and u4 represents a cost item related to the risk of loss of the cargo transported by the first UAV.

[0052] The first cost function f(p, q, C) according to mathematical expression (1) can allow for consideration of the cost of increased energy during detours, the cost of increased arrival delays during detours or intermediate landings for recharging. Similarly, the loss of the first UAV and / or its cargo can be considered. For example, if for a particular combination of flight plans p, q, the first UAV and its cargo arrive safely at the destination, then the cost item associated with the risk of loss of the first UAV and the cargo transported by the first UAV can indicate zero cost. On the other hand, if for a particular combination of flight plans p, q, the first UAV and the cargo transported by the first UAV are lost due to a crash of the first UAV and the second UAV, then the cost item associated with the risk of loss of the first UAV and the cargo transported by the first UAV can indicate a very high cost. Similarly, for a particular combination of flight plans p, q, if the first UAV and the cargo transported by the first UAV could result in the loss of the first UAV and the cargo due to reasons other than a collision (e.g., because the first UAV would run out of energy), the cost item associated with the risk of loss of the first UAV and the cargo transported by the first UAV can indicate a very high cost. For example, if a particular combination of flight plans p, q results in a dangerous situation (e.g., a close pass of the first UAV and the second UAV), the cost item associated with the risk of loss of the first UAV and the cargo transported by the first UAV may indicate a high cost. An item associated with the priority of the first UAV's trip may allow the importance of the first UAV's trip to be taken into account. For example, the item associated with the priority of the first UAV's trip may be one for a "normal trip" and high for an urgent or emergency trip.

[0053] The second cost function f(p, q, D) may include equivalent or similar terms for the second UAV. In general, the parameters p, q, C, and D should be credible.

[0054] Subsequently, in steps 234 to 240, the first cost value and the second cost value are exchanged between the first UAV and the second UAV. In step 234, the first UAV sends the first cost value to the second UAV. Similarly, in step 236, the second UAV sends the second cost value to the first UAV. In step 238, the first UAV receives the second cost value of the second UAV, and in step 240, the second UAV receives the first cost value of the first UAV.

[0055] In step 242, the first UAV combines the determined first cost value and the received second cost value to determine a third cost value for a different combination. By combining the first cost value and the second cost value into the third cost value, a total cost for the two UAVs can be determined. For example, the first cost value and the second cost value can be added as follows:

[0056] f(p,q)=f(p,q,C)+f(p,q,D) (2)

[0057] In step 244 , the second UAV similarly combines the determined second cost value and the received first cost value into a third cost value.

[0058] Subsequently, in step 246, the first UAV determines the combination of flight plans (p, q) that exhibits the best third cost value (e.g., the cost value indicating the lowest cost) among the different combinations. Furthermore, the first UAV updates its current flight plan P to the flight plan p of the first UAV that is included in the combination (p, q) exhibiting the best third cost value among the different combinations. For example, if the current flight plan P of the first UAV is included in the combination exhibiting the best third cost value among the different combinations, the current flight plan P of the first UAV remains unchanged. On the other hand, if the candidate flight plan P' of the first UAV is included in the combination exhibiting the best third cost value among the different combinations, the current flight plan P of the first UAV is updated to the candidate flight plan P'. Furthermore, the flight plan q of the second UAV, which is included in the combination (p, q) exhibiting the best third cost value among the different combinations, is stored by the first UAV as the new flight plan of the second UAV.

[0059] Then, the first UAV checks whether the total cost for the selected combination (p, q) is low enough. Therefore, in step 250, the first UAV determines whether the third cost value of the combination (p, q) that performs the best third cost value in this iteration meets a predetermined quality standard. For example, it can be determined whether the cost indicated by the third cost value of the combination (p, q) that performs the best third cost value in this iteration is lower than a predetermined threshold. If the third cost value of the combination that performs the best third cost value in this iteration does not meet the predetermined quality standard, that is, if the total cost for the selected combination (p, q) is too high, the first UAV performs another iteration of the steps starting from step 216. If the third cost value of the combination that performs the best third cost value in this iteration meets the first predetermined quality standard, the first UAV controls its flight (movement) based on the updated current flight plan P determined in this iteration of step 246.

[0060] Similarly, in step 252, the second UAV determines whether the third cost value of the combination (p, q) exhibiting the best third cost value in this iteration meets a predetermined quality criterion. If the third cost value of the combination exhibiting the best third cost value in this iteration does not meet the predetermined quality criterion, that is, if the total cost for the selected combination (p, q) is too high, the second UAV performs another iteration of the steps starting from step 220. If the third cost value of the combination exhibiting the best third cost value in this iteration meets the first predetermined quality criterion, the second UAV controls its flight (movement) based on the updated current flight plan Q determined in this iteration of step 248.

[0061] from Figure 2 As can be seen in FIG, each of the first UAV and the second UAV implements a negotiation method, which communicates with the other UAV and collaboratively rewrites its flight plan P, Q so that the updated flight plan P, Q reduces the overall cost and avoids conflicts.

[0062] In the following, some more details are given on how the candidate flight plans P' and Q' are obtained in steps 216 and 220.

[0063] The step 216 of determining a candidate flight plan P' for the first UAV may, for example, include generating a suggestion P' for a candidate flight plan for the first UAV based on the current flight plan P of the first UAV. Similarly, the step 220 of determining a candidate flight plan Q' for the second UAV may, for example, include generating a suggestion Q' for a candidate flight plan for the second UAV based on the current flight plan Q of the second UAV.

[0064] For example, if the current flight plans P and Q of the UAVs indicate a collision, step 216 of generating a suggestion P” for a candidate flight plan for the first UAV may include determining a collision point of the first UAV and the second UAV based on the current flight plan P of the first UAV and the current flight plan Q of the second UAV, and generating a suggestion P” for the candidate flight plan for the first UAV such that the first UAV stops before reaching the collision point. Generating a suggestion Q” for the candidate flight plan for the second UAV may be equivalent, i.e., the suggestion Q” for the candidate flight plan for the second UAV may cause the second UAV to stop before reaching a collision point previously determined by the second UAV based on the current flight plan P of the first UAV and the current flight plan Q of the second UAV.

[0065] Alternatively, generating a suggestion P" for a candidate flight plan for the first UAV may include changing one or more parameters of the current flight plan P of the first UAV. For example, the one or more parameters of the current flight plan P of the first UAV may include the altitude of the first UAV, the speed of the first UAV, and / or the movement trajectory of the first UAV. In other examples, fewer, more, or different parameters of the current flight plan P of the first UAV may be changed. For example, the speed of the first UAV may be increased or decreased before reaching a potential conflict (e.g., collision) point, so that the first UAV reaches the potential conflict point earlier or later to avoid conflict with the second UAV. Alternatively or additionally, the altitude (height) of the first UAV may be increased or decreased before reaching a potential conflict (e.g., collision) point, so that the first UAV reaches the potential conflict point at a higher or lower altitude to avoid conflict with the second UAV. Furthermore, alternatively or additionally, the route of the first UAV may be changed before reaching a potential conflict (e.g., collision) point, so that the minimum distance between the first UAV and the second UAV is increased at the potential conflict point to avoid conflict with the second UAV.

[0066] Similarly, generating a suggestion Q" for a candidate flight plan for the second UAV may include changing one or more parameters of the current flight plan Q of the second UAV.

[0067] In the case where step 216 is performed in an iteration where i>1, generating a suggestion P” for a candidate flight plan for the first UAV may be further based on one or more flight plans of the first UAV used in a previous iteration of step 216 to update the current flight plan P of the first UAV. For example, the initial current flight plan P0 and the flight plan of the first UAV used in the most recent iteration i-1 of step 216 to update the current flight plan P of the first UAV may be used to generate the suggestion P” for the candidate flight plan in iteration i. Similarly, generating a suggestion Q” for a candidate flight plan for the second UAV may be further based on one or more flight plans of the second UAV used in a previous iteration of step 220 to update the current flight plan Q of the second UAV.

[0068] The first UAV may also use the first cost function to determine a fourth cost value for its proposed candidate flight plan P" and the second UAV's current flight plan Q. In other words, f(P", Q, C) is calculated and stored.

[0069] In addition, the first UAV can estimate the fifth cost value of the proposed P" of its candidate flight plan and the current flight plan Q of the second UAV using the second cost function. In other words, estimate and store f(P", Q, D). For the estimation (approximation) of the fifth cost value, the attribute D of the second UAV can be, for example, received from the second UAV so that the estimation can be accurate. In other examples, it can be assumed that the attributes of the second UAV are constant for previous iterations. In addition, the results from previous iterations can be reused. (For example, the second cost value of the combination of the current flight plan Q of the second UAV and the current flight plan P of the first UAV received in the previous iteration can be assumed to be the fifth cost value of the combination of the proposed P" of the candidate flight plan for the first UAV and the current flight plan Q of the second UAV, that is, f(P", Q, D) = f(P, Q, D)).

[0070] The fourth cost value and the fifth cost value estimate the cost of the proposed P" of the candidate flight plan and the current flight plan Q of the second UAV from the perspectives of the first UAV and the second UAV.

[0071] Similar to what was described above for the third cost value, the first UAV can further determine a sixth cost value based on the fourth cost value and the fifth cost value in order to estimate the total cost of the proposed P" of the candidate flight plan. For example, the fourth cost value and the fifth cost value can be added, and optionally weighted before addition. For example, the fourth cost value and the fifth cost value can be added as follows:

[0072] f(P", Q) = f(P", Q, C) + f(P", Q, D) (3)

[0073] If the sixth cost value meets the second predetermined quality standard, the first UAV uses the proposed P" of the candidate flight plan for the first UAV as the candidate flight plan for the first UAV. If the sixth cost value does not meet the second predetermined quality standard, the first UAV generates another proposal for the candidate flight plan for the first UAV. In other words, if the proposal P" meets the second predetermined quality standard, the proposal P" is accepted as the candidate flight plan for the first UAV. For example, the second predetermined quality standard can be: the sixth cost value is less than the third cost value of the current flight plan of the first UAV and the current flight plan P of the second UAV (that is, f(P", Q) < f(P, Q)). Thus, it can be ensured that the proposed P" of the candidate flight plan for the first UAV generates a lower total cost than the current flight plan P of the second UAV.

[0074] The second UAV can perform equivalent processing for estimating (evaluating) the proposed Q" of the candidate flight plan for the second UAV.

[0075] Hereinafter, refer to Figures 3 to 9An exemplary conflict resolution between two UAVs 310 and 320 according to the proposed technique is described. Figure 3 An initial situation is shown. Each of UAV 310 and UAV 320 includes a propulsion system 311, 321 (e.g., motor-driven rotors) and circuits 312, 322, which are configured to perform the proposed method for avoiding collision with another UAV. Circuits 312, 322 can, for example, include corresponding data processing circuits and corresponding wireless communication circuits. For example, the processing circuit can be a single dedicated processor, a single shared processor, or multiple individual processors (some or all of which can be shared), digital signal processor (DSP) hardware, application specific integrated circuit (ASIC), or field programmable gate array (FPGA). The processing circuit can optionally be coupled to, for example, read-only memory (ROM), random access memory (RAM), and / or non-volatile memory for storing software.

[0076] A first UAV 310 is following a current flight plan P = P0, and a second UAV 320 is following a current flight plan Q = Q0. UAVs 310 and 320 determine that a collision is likely. Specifically, UAVs 310 and 320 determine that a collision is likely when following flight plans P0 and Q0. The cost f(P0, Q0) of following the current flight plans P0 and Q0 is very high due to the crash and the resulting loss of cargo and UAVs.

[0077] UAV 310 and UAV 320 determine the first candidate flight plan P1 and Q1 to avoid the crash. The first candidate flight plan P1 and Q1 are combined with the current flight plan P0 and Q0 in Figure 4 . According to the first candidate flight plan PI, the first UAV 310 maintains its position and then lands at a safe landing site before reaching the collision point. Thus, the first UAV 310 avoids a crash but fails to reach its destination. Similarly, according to the first candidate flight plan Q1, the second UAV 320 maintains its position and then lands at a safe landing site before reaching the collision point. Thus, the second UAV 320 also avoids a crash but fails to reach its destination.

[0078] The third cost value (i.e., total cost) for flight plans P1 and Q1 is high, but still lower than the cost value for the initial flight plans P0 and Q0. Therefore, the first UAV 310 and the second UAV 320 (temporarily) agree on P1 and Q1 as the new effective flight plans P=P1 and Q=Q1. Figure 5As shown, the first UAV 310 and the second UAV 320 follow the agreed flight plans P1 and Q1. In some examples, f(P0, Q1) and f(P1, Q0) may be disregarded in the first iteration as a precautionary measure to quickly avoid conflict.

[0079] Due to the high total cost of flight plans PI and Q1, a new iteration for determining candidate flight plans is started. In other words, the first UAV 310 and the second UAV 320 continue to improve the flight plans.

[0080] Figure 6 1 and 2. The flight plan generation in the second iteration is shown while the UAV 310 and the UAV 320 are following the flight plans P1 and Q1. The first UAV 310 creates a second candidate flight plan P2 based on the previous flight plans P0 and P1, while the second UAV 320 creates a second candidate flight plan Q2 based on the previous flight plans Q0 and Q1. The second candidate flight plan Q2 causes the second UAV 320 to temporarily fly at a higher flight level (altitude) near the collision point. The second candidate flight plan P2 of the first UAV 310 substantially corresponds to the original flight plan P0 of the first UAV 310. The only difference from the original flight plan P0 is that the second candidate flight plan P2 causes the first UAV 310 to reduce speed before reaching the collision point. Figure 6 As can be seen, the second candidate flight plans P2 and Q2 will not conflict. For the combination of flight plans P2 and Q2, the first UAV 310 and the second UAV 320 will arrive at their respective destinations. Both the first UAV 310 and the second UAV 320 will arrive at their respective destinations slightly later and require slightly more energy due to the longer travel time and increased altitude.

[0081] The total cost f(P2, Q2) for the combination of flight plans P2 and Q2 is the lowest. Figure 7 As shown, P=P2 and Q=Q2 are defined as the new effective flight plan, so that the first UAV 310 follows the flight plan P=P2 and the second UAV 320 follows the flight plan Q=Q2. Since the total cost for the combination of flight plans P2 and Q2 is not low enough, further iterations are needed to update the current flight plan.

[0082] Figure 8FIG3 illustrates flight plan generation in a third iteration while UAV 310 and UAV 320 follow flight plans P2 and Q2. The first UAV 310 creates a third candidate flight plan P3 based on the previous flight plans P0, P1, and P2, and the second UAV 320 creates a third candidate flight plan Q3 based on the previous flight plans Q0, Q1, and Q2. The third candidate flight plan Q3 is identical to the original flight plan Q0. The third candidate flight plan P3 of the first UAV 310 substantially corresponds to the current flight plan P2 of the first UAV 310. In other words, the third candidate flight plan P3 causes the first UAV 310 to reduce speed before reaching the collision point. Figure 6 It can be seen that there will be no conflict for the third candidate flight plans P3 and Q3 because the first UAV 310 will reduce its speed before reaching the collision point, allowing the second UAV 320 to pass the collision point before the first UAV 310 reaches the collision point.

[0083] For the combination of flight plans P3 and Q3, the first UAV 310 and the second UAV 320 will arrive at their respective destinations. Only the first UAV 310 will arrive at its destination slightly later. The total cost f(P3, Q3) for the combination of flight plans P3 and Q3 is the lowest. Therefore, Figure 9 As shown, P = P3 and Q = Q3 = Q0 are defined as the new valid flight plan, such that the first UAV 310 follows flight plan P = P3 and the second UAV 320 follows flight plan Q = Q3 = Q0. Because the total cost for the combination of flight plans P3 and Q3 is sufficiently low, no further iterations are required to update the current flight plan. The conflict has been resolved. The new flight plans P3 and Q3 incur only a small additional cost compared to the original conflicting flight plans P0 and Q0.

[0084] The cost functions f(p, q, C) and f(p, q, D) can evaluate flight plans that are very costly and result in the loss of a UAV. By reducing the cost, flight plans that lead to conflicts and collisions can be avoided. The cost function can be defined to prevent all critical situations with other UAVs in the future. Therefore, conflicts can be detected early and resolved promptly. The cost function allows the disadvantages of a specific flight plan to be modeled in a very descriptive way. Examples include priority, energy consumption, and the cost of late arrival. The proposed negotiation method aims to iteratively reduce the total cost. Flight plans with increased costs are rejected. The negotiation is performed by the two involved UAVs and does not require a central station. Therefore, it is decentralized.

[0085] As mentioned above, the above combination Figures 2 to 9 The described technology is not limited to UAVs that follow a flight plan. The technology can similarly be used for other vehicles that autonomously follow their own movement plans, such as UGVs or USVs.

[0086] The following embodiments relate to further examples:

[0087] (1) A method for a first UV to avoid conflict with a second UV, the method comprising:

[0088] determining whether a conflict with the second UV is likely to occur based on the current movement plan of the first UV and the current movement plan of the second UV received from the second UV; and

[0089] If it is determined that a conflict with a second UV may occur, then at least one iteration of the following steps is performed:

[0090] a) determining a candidate movement plan for the first UV, and receiving a candidate movement plan for the second UV from the second UV;

[0091] b) determining first cost values ​​for different combinations of the current movement plan and one of the candidate movement plans of the first UV and the current movement plan and one of the candidate movement plans of the second UV using a first cost function;

[0092] c) receiving a second cost value for a different combination from the second UV, wherein the second cost value is calculated by the second UV using a second cost function;

[0093] d) combining the first cost value and the second cost value to determine a third cost value of a different combination; and

[0094] e) updating the current movement plan of the first UV to the movement plan of the first UV included in the combination showing the best third cost value among the different combinations.

[0095] (2) The method according to (1), wherein the method further comprises:

[0096] determining whether the third cost value of the combination exhibiting the best third cost value in the most recent iteration satisfies a predetermined quality criterion; and

[0097] If the third cost value of the combination that exhibited the best third cost value in the most recent iteration does not meet a predetermined quality criterion, a further iteration of steps a) to e) is performed.

[0098] (3) The method according to (1) or (2), wherein the method further comprises:

[0099] determining whether the third cost value of the combination exhibiting the best third cost value in the most recent iteration satisfies a first predetermined quality criterion; and

[0100] If the third cost value of the combination showing the best third cost value in the most recent iteration satisfies the first predetermined quality criterion, the movement of the first UV is controlled based on the updated current movement plan determined in the most recent iteration.

[0101] (4) The method according to any one of (1) to (3), wherein determining a candidate movement plan for the first UV comprises:

[0102] generating a suggestion of a candidate movement plan for the first UV based on the current movement plan of the first UV;

[0103] determining a fourth cost value for the proposal of the candidate movement plan of the first UV and the current movement plan of the second UV using the first cost function;

[0104] estimating a fifth cost value for the suggestion of the candidate movement plan of the first UV and the current movement plan of the second UV using the second cost function;

[0105] determining a sixth cost value based on the fourth cost value and the fifth cost value;

[0106] And if the sixth cost value satisfies a second predetermined quality criterion, using the suggestion for the candidate movement plan of the first UV as the candidate movement plan for the first UV.

[0107] (5) The method according to (4), wherein determining the candidate movement plan of the first UV further includes:

[0108] If the sixth cost value does not meet the second predetermined quality criterion, another suggestion of a candidate movement plan for the first UV is generated.

[0109] (6) The method of (4) or (5), wherein generating the suggestion of the candidate movement plan for the first UV is also based on one or more movement plans of the first UV used in a previous iteration of step e) to update the current movement plan of the first UV.

[0110] (7) The method of any one of (4) to (6), wherein generating a suggestion of a candidate movement plan for the first UV includes changing one or more parameters of a current movement plan of the first UV.

[0111] (8) The method according to (7), wherein the one or more parameters of the current movement plan of the first UV include at least one of the following: the altitude of the first UV, the speed of the first UV, and the movement trajectory of the first UV.

[0112] (9) The method according to any one of (4) to (6), wherein generating a suggestion of a candidate movement plan for the first UV comprises:

[0113] Determine a collision point between the first UV and the second UV based on a current movement plan of the first UV and a current movement plan of the second UV;

[0114] Generate suggestions for candidate movement plans for the first UV such that the first UV stops before reaching the collision point.

[0115] (10) The method according to any one of (1) to (9), wherein the first cost function includes at least one of the following:

[0116] at least one of the costs associated with energy consumption of the first UV;

[0117] at least one of the costs associated with delayed arrival at the first UV destination;

[0118] at least one of the costs associated with the risk of loss of the first UV;

[0119] at least one of the costs associated with the risk of loss of cargo transported by the first UV; and

[0120] At least one item related to the priority of the first UV run.

[0121] (11) The method of any one of (1) to (10), wherein the first cost function considers properties of the first UV.

[0122] (12) The method according to (11), wherein the attributes of the first UV include at least one of the following: remaining energy available to the first UV, weight of the first UV and / or cargo transported by the first UV, destination of the first UV, capacity of the first UV, and current configuration of the first UV.

[0123] (13) The method of any one of (1) to (10), wherein the second cost function takes into account properties of the second UV.

[0124] (14) The method according to any one of (1) to (13), further comprising one or more of the following steps: sending the current movement plan of the first UV to the second UV;

[0125] Sending the candidate movement plan of the first UV to the second UV; and

[0126] Sends different combinations of the first cost values ​​to the second UV.

[0127] (15) The method according to any one of (1) to (14), further comprising:

[0128] If it is determined that a collision with the second UV is unlikely to occur, the movement of the first UV continues to be controlled based on the initial current movement plan of the first UV.

[0129] (16) The method according to any one of (1) to (15), wherein the first UV and the second UV are UAVs.

[0130] (17) A method according to any one of (1) to (16), wherein the current movement plan of the first UV includes information about the time progression of the spatial area reserved for movement of the first UV, and / or wherein the current movement plan of the second UV includes information about the time progression of the spatial area reserved for movement of the second UV.

[0131] (18) A non-transitory machine-readable medium having stored thereon a program, the program having program code for performing the method according to any one of (1) to (17) when executed on a processor or programmable hardware.

[0132] (19) A program having a program code for executing the method according to any one of (1) to (17) when the program is executed on a processor or programmable hardware.

[0133] (20) A UV capable of avoiding conflict with another UV, the UV comprising a propulsion system and a circuit configured to:

[0134] determining whether a collision with another UV is likely to occur based on the current movement plan of the UV and the current movement plan of another UV received from the other UV; and

[0135] If it is determined that a conflict with another UV may occur, at least one iteration of the following steps is performed:

[0136] a) determining a candidate movement plan of a UV and receiving a candidate movement plan of another UV from another UV;

[0137] b) determining, using a first cost function, first cost values ​​for different combinations of one of the current movement plan and the candidate movement plan of the UV and one of the current movement plan and the candidate movement plan of another UV;

[0138] c) receiving a second cost value of a different combination from another UV, wherein the second cost value is calculated by the other UV using a second cost function;

[0139] d) combining the first cost value and the second cost value to determine a third cost value of a different combination; and

[0140] e) The current movement plan of UV is updated to the movement plan of UV, the movement plan of UV being included in the combination showing the best third cost value among the different combinations.

[0141] (21) UV according to (20), wherein UV is UAV.

[0142] with one or more of the previously detailed examples and appendices Figure 1 The aspects and features mentioned and described herein may also be combined with one or more other examples in order to replace similar features of the other examples or to otherwise introduce the features into the other examples.

[0143] The description and drawings illustrate only the principles of the present disclosure. In addition, all examples described herein are primarily intended to be used for illustrative purposes only, to help the reader understand the principles of the present disclosure and the concepts contributed by the inventors to advance the art. All statements of the principles, aspects, and examples of the present disclosure and specific examples thereof described herein are intended to encompass their equivalents.

[0144] For example, a block diagram may show a high-level circuit diagram that implements the principles of the present disclosure. Similarly, a flow chart, a flow diagram, a state transition diagram, a pseudo code, etc. may represent various processes, operations, or steps that, for example, may be substantially represented in a non-transitory machine-readable medium (e.g., a floppy disk, DVD, Blu-Ray, CD, ROM, PROM, and EPROM, EEPROM, or flash memory) and thus executed by a processor or programmable hardware, regardless of whether such a processor or programmable hardware is explicitly shown. The methods disclosed in the specification or claims may be implemented by an apparatus having each of the individual actions for performing these methods.

[0145] It should be understood that the disclosure of multiple actions, processes, operations, steps or functions disclosed in the specification or claims may be interpreted as being in no particular order, unless otherwise stated, for example, explicitly or implicitly, for technical reasons. Therefore, the disclosure of multiple actions or functions will not limit these actions or functions to a particular order, unless these actions or functions are not interchangeable for technical reasons. In addition, in some examples, a single action, function, process, operation or step may include or be decomposed into multiple sub-actions, functions, processes, operations or steps, respectively. Unless expressly excluded, such sub-actions may be included in and be part of the disclosure of this separate action.

[0146] In addition, the following claims are hereby incorporated into the detailed description, where each claim can stand on its own as a separate example. Although each claim can stand on its own as a separate example, it should be noted that although a dependent claim can refer to a specific combination with one or more other claims in a claim, other examples can also include a combination of a dependent claim with the subject matter of each other dependent or independent claim. Such combinations are expressly proposed herein unless it is stated that a specific combination is not intended. In addition, it is intended to also include the features of any other independent claim, even if that claim is not directly dependent on that independent claim.

Claims

1. A method for a first unmanned vehicle UV to avoid conflict with a second UV, the method comprising: determining whether a conflict with the second UV may occur based on a current movement plan of the first UV and a current movement plan of the second UV received from the second UV; as well as If it is determined that a conflict with the second UV may occur, at least one iteration of the following steps is performed: a) determining a candidate movement plan of the first UV, and receiving a candidate movement plan of the second UV from the second UV; b) determining first cost values ​​for different combinations of the current movement plan and one of the candidate movement plans of the first UV and the current movement plan and one of the candidate movement plans of the second UV using a first cost function; c) receiving a second cost value for the different combination from the second UV, wherein the second cost value is calculated by the second UV using a second cost function; d) combining the first cost value and the second cost value to determine a third cost value for the different combination; and e) updating the current movement plan of the first UV to the movement plan of the first UV included in the combination showing the best third cost value among the different combinations, The method further comprises: determining whether the third cost value of the combination showing the best third cost value in the latest iteration meets a predetermined quality standard; and performing another iteration of steps a) to e) if the third cost value of the combination exhibiting the best third cost value in the latest iteration does not meet the predetermined quality criterion, If the third cost value of the combination showing the best third cost value in the latest iteration satisfies the predetermined quality criterion, the movement of the first UV is controlled based on the updated current movement plan determined in the latest iteration.

2. The method according to claim 1, wherein Determining the candidate movement plan of the first UV includes: generating a suggestion for the candidate movement plan of the first UV based on the current movement plan of the first UV; determining a fourth cost value for a suggestion of the candidate movement plan for the first UV and a current movement plan for the second UV using the first cost function; estimating a fifth cost value for the suggestion of the candidate movement plan of the first UV and the current movement plan of the second UV using the second cost function; determining a sixth cost value based on the fourth cost value and the fifth cost value; and If the sixth cost value satisfies a second predetermined quality criterion, using the suggestion for the candidate movement plan of the first UV as the candidate movement plan of the first UV.

3. The method according to claim 2, wherein: Determining a candidate movement plan for the first UV further includes: If the sixth cost value does not meet the second predetermined quality criterion, generating another suggestion for the candidate movement plan for the first UV.

4. The method according to claim 2, wherein: Generating the suggestion of the candidate movement plan for the first UV is also based on one or more movement plans of the first UV used in a previous iteration for updating the current movement plan of the first UV at step e).

5. The method according to claim 2, wherein: Generating a suggestion for the candidate movement plan for the first UV includes changing one or more parameters of the current movement plan of the first UV.

6. The method according to claim 5, wherein: The one or more parameters of the current movement plan of the first UV include at least one of the following: an altitude of the first UV, a speed of the UV, and a movement trajectory of the first UV.

7. The method according to claim 2, wherein: Generating a suggestion of the candidate movement plan for the first UV includes: determining a collision point between the first UV and the second UV based on a current movement plan of the first UV and a current movement plan of the second UV; A suggestion of the candidate movement plan for the first UV is generated such that the first UV stops before reaching the collision point.

8. The method according to claim 1, wherein The first cost function includes at least one of the following: at least one of the costs associated with energy consumption of the first UV; at least one item of cost associated with a delay in the first UV arriving at a destination; at least one of the costs associated with the risk of loss of the first UV; at least one of the costs associated with the risk of loss of cargo transported by the first UV; as well as At least one item related to the priority of the first UV trip.

9. The method according to claim 1, wherein: The first cost function takes into account properties of the first UV.

10. The method according to claim 9, wherein: The attributes of the first UV include at least one of: available remaining energy of the first UV, weight of the first UV and / or cargo transported by the first UV, destination of the first UV, capacity of the first UV, current configuration of the first UV.

11. The method according to claim 1, wherein The second cost function takes into account properties of the second UV.

12. The method of claim 1 , further comprising one or more of the following: Sending the current movement plan of the first UV to the second UV; sending the candidate movement plan of the first UV to the second UV; and The first cost value for the different combination is sent to the second UV.

13. The method according to claim 1, further comprising: If it is determined that a collision with the second UV is unlikely to occur, the movement of the first UV continues to be controlled based on the initial current movement plan of the first UV.

14. The method according to claim 1, wherein The first UV and the second UV are unmanned aerial vehicles.

15. The method according to claim 1, wherein The current movement plan of the first UV includes information about the time course of the spatial area reserved for movement of the first UV, and / or wherein the current movement plan of the second UV includes information about the time course of the spatial area reserved for movement of the second UV. 16 . A non-transitory machine-readable medium storing a program having program code thereon, for performing the method according to claim 1 when the program is executed on a processor or programmable hardware.

17. An unmanned vehicle (UV) capable of avoiding collision with another UV, the UV comprising a propulsion system and circuitry configured to: determining whether a conflict with the other UV is likely to occur based on a current movement plan of the UV and a current movement plan of the other UV received from the other UV; as well as If it is determined that a conflict with another UV may occur, at least one iteration of the following steps is performed: a) determining a candidate movement plan of the UV, and receiving the candidate movement plan of the other UV from the other UV; b) determining first cost values ​​using a first cost function, the first cost values ​​being for different combinations of one of the current movement plan and the candidate movement plan of the UV and one of the current movement plan and the candidate movement plan of the other UV; c) receiving a second cost value for the different combination from the other UV, wherein the second cost value is calculated by the other UV using a second cost function; d) combining the first cost value and the second cost value to determine a third cost value for the different combination; as well as e) updating the current movement plan of the UV to the movement plan of the UV included in the combination showing the best third cost value among the different combinations, The circuit is further configured to: determining whether the third cost value of the combination showing the best third cost value in the latest iteration meets a predetermined quality standard; and performing another iteration of steps a) to e) if the third cost value of the combination exhibiting the best third cost value in the latest iteration does not meet the predetermined quality criterion, If the third cost value of the combination showing the best third cost value in the latest iteration satisfies the predetermined quality criterion, the movement of the first UV is controlled based on the updated current movement plan determined in the latest iteration.

18. The UV according to claim 17, wherein The UV is an unmanned aerial vehicle.

Images