A safe integration of UAVs into the airspace is fundamental to unblock all the potential of drone applications. U-space is the drone traffic management solution for Europe, intended to handle a large number of drones into the airspace, especially at Very Low Level (VLL). This paper is focused on conflict management for multiple unmanned aerial vehicles in the context of the U-space under 4D trajectory based operations (4D-TBO). A novel method for multi-UAV conflict management at tactical level for large-scale scenarios is presented. The integration of 4D-TBO in this context has been implemented with a four dimensional trajectory follower based on the carrot chasing algorithm. This method minimizes, through the whole flight, the mean normal distance to the defined trajectory and the mean difference with respect to the defined arrival times. Finally, the integrated system has been implemented in a software in the loop environment with a commercial autopilot. The simulation results show better performance with respect to other classical approaches.

将无人机安全集成到空域中是释放无人机应用潜力的基础。U-space 是欧洲的无人机交通管理解决方案，旨在处理大量无人机进入空域，尤其是在极低空 (VLL) 时。本文的重点是基于 4D 轨迹操作 (4D-TBO) 的 U 空间背景下多无人机的冲突管理。提出了一种在战术层面针对大规模场景进行多无人机冲突管理的新方法。在这种情况下，4D-TBO 的集成是通过基于胡萝卜追逐算法的四维轨迹跟随器实现的。该方法在整个飞行过程中最小化到定义轨迹的平均法向距离以及相对于定义的到达时间的平均差异。最后，该集成系统已在带有商用自动驾驶仪的环路环境中的软件中实现。仿真结果显示出相对于其他经典方法更好的性能。