Complex Four-Dimensional Trajectory Conflict Detection and Resolution Based on Grid Model

Aiming at the problem of UAV conflict resolution for trajectories in multi-type airspace, a four-dimensional trajectory conflict detection method based on a raster model is proposed to transform the dynamic airspace conflict problem into a static raster model. On this basis, a genetic algorithm is used to solve the conflict resolution scheme. The purpose of conflict elimination is achieved by moving the airspace in three directions, horizontal and altitude, and adjusting the flight schedule. The adaptation function is constructed according to the elimination cost and the conflict degree, and the genetic algorithm is used to encode and solve the flight conflict problem. Simulation experiments show that the proposed method can effectively solve the problem of UAV trajectory detection and resolution, which has theoretical significance and practical value.