Enhanced Conflict Avoidance and Dynamic Path Replanning for Multi-UAVs through MILP with Real-Time Speed and Heading Angle Control

Multi-UAVs operations encounter significant challenges in conflict avoidance and dynamic path replanning, which are crucial for ensuring safety and mission efficiency. To address these challenges, we propose a novel approach using Mixed Integer Linear Programming (MILP) to optimize UAV flight paths through real-time control of speed and heading angles. Our method formulates conflict resolution as an optimal control problem, aiming to minimize adjustments while satisfying constraints such as minimum separation distances, speed limits, and heading angle limits. The MILP algorithm significantly enhances operational efficiency by reducing conflict-related delays and improving mission completion rates. The effectiveness and practicality of the proposed method are validated by integrating speed and heading angle controls, demonstrating enhanced operational efficiency and cost-effectiveness in complex UAV environments.