| Citation: | ZHANG Honghong, GAN Xusheng, XIN Jianlin, et al. Multi-aircraft conflict resolution algorithm based on cooperative game[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(5): 863-871. doi: 10.13700/j.bh.1001-5965.2020.0670(in Chinese)
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In order to solve the problem of inequity of individual cost in conflict resolution of low-altitude UAV, a multi-aircraft conflict resolution algorithm based on the concept of "nucleolus solution" in cooperative game is proposed. According to the characteristics of low-altitude multi-aircraft conflict scenarios, based on the "nucleolus solution" concept, the UAV conflict resolution payment matrix is established. Combined with the advantages of artificial potential field method and ant colony optimization, a hybrid conflict resolution strategy based on artificial potential field-ant colony optimization (APF-ACO) is proposed. The simulation results show that the APF-ACO hybrid solution strategy has the best performance by integrating the three evaluation indexes of calculation time, feasibility and system efficiency. The solution strategy based on cooperative game "nucleolus solution" can improve individual fairness to a certain extent. At the same time, the priority UAV can be quickly planned to achieve the goal at the expense of a small amount of overall benefits.
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