| Summary: | In a low-altitude rescue operation, the safety and efficiency of the rescue can be guaranteed by adopting the conflict-avoidance mode of the collaboration type of flight rescue. In this article, we first introduce a protection zone model based on the visual flight separation standard, adopt resolution early warning time as a criterion, and divide the conflict into two modes, namely, two-aircraft (including fleet) and multiple-aircraft modes. Second, during each conflict mode, we distinguish different conflict scenarios based on the flight course of the conflict aircrafts and the tasks they carry out. Finally, we introduce a multi-agent system. We regard each aircraft as an independent agent that includes four modules. Each agent decides its own conflict resolution sequence based on the priority rules. By combining the relative movement trend, we select resolution strategies, such as adjusting the aircraft to fly higher, veering it off-course, or adjusting its speed. Finally, we draw the conflict-free flight track. We create a collaboration type of flight conflict resolution under different rescue priorities. Simulation examples show that this method can realize correction of the flight track and guarantee the safety and high efficiency of aircrafts according to the initial rescue flight track and under rescue priority.
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