Decentralized UAV Collision Avoidance via Geocast Track Declarations

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Solution Overview

Problem

Current systems for controlling unmanned aerial vehicles (UAVs) lack effective collision avoidance mechanisms, especially in crowded skies, and rely on centralized traffic management systems that are not yet widely available or universal.

Innovation Solution

A decentralized system using Geocast-based Track Declaration Protocol, Simulation-based Conflict Detection algorithm, and Conflict Avoidance Contingency Behavior, allowing UAVs to exchange information about their positions and flight plans, detect potential collisions, and execute maneuvers such as hovering, bending, or altitude changes to avoid collisions without a central controller.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a centralized traffic management system (UTM) is used for UAV collision avoidance, then collision detection capability is improved, but system complexity and dependency on centralized infrastructure increase

Engineering Contradiction:

Improvecollision avoidance reliabilityVSAvoidsystem complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent divides the centralized collision avoidance function into distributed segments, where each UAV independently performs conflict detection and generates avoidance maneuvers based on received track declaration messages from other UAVs. This segmentation eliminates the need for a centralized UTM system while maintaining collision avoidance capability.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Each UAV autonomously detects conflicts with other UAVs by processing track declaration messages and independently generates and executes collision avoidance maneuvers without requiring centralized control. The system serves itself through decentralized autonomous operation of individual UAVs.

Inventive Principle:

Principle #25Self-service

2Reliability

If a centralized UTM system is deployed, then traffic management coverage is improved, but availability and universality are worsened due to limited deployment locations

Engineering Contradiction:

Improvetraffic management availabilityVSAvoidgeographic coverage

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

Each UAV autonomously performs conflict detection and avoidance without requiring external UTM infrastructure. The decentralized architecture allows UAVs to operate independently in any geographic location, providing universal coverage without being constrained to areas with deployed centralized systems.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The track declaration message protocol enables universal interoperability between UAVs from different operators and jurisdictions. The standardized message format allows any UAV equipped with the protocol to participate in the decentralized collision avoidance network regardless of location or operator.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Adaptability or versatility

If decentralized collision avoidance is implemented, then system independence and operational flexibility are improved, but communication message exchange complexity increases

Engineering Contradiction:

Improveoperational independenceVSAvoidcommunication protocol complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The track declaration message includes essential parameters (identifier, position, velocity, flight plan) that are dynamically updated and exchanged between UAVs. By standardizing these parameters in a structured message format, the system manages communication complexity while enabling comprehensive decentralized collision avoidance.

Inventive Principle:

Principle #35Parameter changes

4Measurement precision

If UAVs continuously exchange track declaration messages, then collision detection accuracy is improved, but communication bandwidth consumption and processing load increase

Engineering Contradiction:

Improvecollision detection accuracyVSAvoidcommunication data volume

Core Design Contradiction:

Measurement precisionVSQuantity of substance

Solution Approach 1:

UAVs exchange track declaration messages at periodic intervals rather than continuously. Each message contains updated position, velocity, and flight plan information. This periodic exchange maintains sufficient collision detection accuracy while significantly reducing communication bandwidth consumption and processing load compared to continuous data streaming.

Inventive Principle:

Principle #19Periodic action

Data Source

PatentUS11158200B2Decentralized collision avoidance for UAVs

Publication Date: 2021.10.26 AT&T INTELLECTUAL PROPERTY I L P

AI summary

A method includes recording, by a first UAV, a current position of the first UAV, comparing, the current position of the first UAV to a current flight plan of the first UAV, and geocasting a first track declaration message. The method may further include receiving, by the first UAV, a second track declaration message generated by a second UAV, detecting a potential collision with the second UAV and executing a collision avoidance maneuver by the first UAV.