Dual-Horizon Reciprocal Collision Avoidance for Aircraft and Unmanned Aerial Systems

The aircraft conflict detection and resolution problem has been addressed with a wide range of centralised methods in the past few decades, e.g. constraint programming, mathematical programming or metaheuristics. In context autonomous, decentralized collision avoidance without explicit coordination, geometric provide an elegant, cost-effective approach to avoid collisions between mobile agents, provided they all share same logic view traffic. Optimal Reciprocal Collision Avoidance (ORCA) algorithm is state-of-the art method for robot avoidance, which can be used as Detect & Avoid on-board Unmanned Aerial Vehicles. However, ORCA does not handle well some degenerate situations where agents operate at constant near-constant speeds, widespread feature commercial fixed-winged Airborne Systems. such situations, pairs could end up flying parallel tracks ever crossing paths reach their respective destination. Constant Speed (CS-ORCA) was proposed 2018 better these situations. this paper, we discuss limitations both CS-ORCA, introduce Dual-Horizon (DH-ORCA) algorithm, two time horizons are respectively short-term medium-term path-crossing. We show that new mitigates main issues CS-ORCA yields performances dense traffic scenarios.