In this paper, an algorithm for Unmanned Aircraft Systems Traffic Management (UTM) for a finite number of unmanned aerial vehicles (UAVs) is proposed. This algorithm is developed by combining the Rapidly-Exploring Random Trees (RRT) and Velocity Obstacle (VO) algorithms and is referred to as the RRT-VO UTM algorithm. Here, the RRT algorithm works offline to generate obstacle-free waypoints in a given environment with known static obstacles. The VO algorithm, on the other hand, operates online to avoid collisions with other UAVS and known static obstacles. The boundary of the static obstacles are approximated by small circles to facilitate the formulation of VO algorithm. The proposed algorithm's performance is evaluated using numerical simulation and then compared to the well-known artificial potential field (APF) algorithm for collision avoidance. The advantages of the proposed method are clearly shown in terms of lower path length and collision avoidance capabilities for a challenging scenario.

翻译：本文针对有限数量无人机（UAV）的无人机系统交通管理（UTM）问题提出了一种算法。该算法融合了快速探索随机树（RRT）和速度障碍物（VO）算法，称为RRT-VO UTM算法。其中，RRT算法离线运行，在已知静态障碍物的环境中生成无碰撞路径点；而VO算法在线运行，用于避免与其他无人机及已知静态障碍物的碰撞。为便于VO算法的公式化表述，静态障碍物的边界被近似为小圆。通过数值仿真评估所提算法的性能，并将其与经典的用于避碰的人工势场（APF）算法进行对比。在具有挑战性的场景中，所提方法在路径长度更短和避碰能力方面展现出明显优势。