Strategic Conflict Detection Method for Multi-UAVs in Structured Low-Altitude Airspace

With the rapid development of UAV technology, ensuring the safe operation of UAVs in structured airspace has become a key issue in urban air traffic management. The paper proposes a strategic framework to determine the potential conflicts in multi-UAV systems by a double-layer detection method. In the first layer of the framework, potential conflict grids are identified by setting both temporal and spatial thresholds in the pre-designed air route network. In the second layer, a local encountering model is established with 3D collision probability estimation to evaluate the severity of conflicts based on the motion information of the UAVs in the air route network, such as position and speed vector. The results demonstrate that the proposed method can determine the potential conflicts of flight schedules efficiently, which also shows the improvement in the precision and reliability of low-altitude air transportation systems.