Cooperative multi-aircraft conflict resolution based on co-evolution

Considering the minimum length of total paths, this paper proposes a cooperative multi-aircraft conflict resolution (CR) method based on co-evolution. Feasible paths of each aircraft constitute its own sub-population which can evolve distributed and in parallel with Particle Swarm Optimization algorithm. Fitness is evaluated by cooperation among individuals from different sub-population. Further, a novel real number encoding method with adaptive searching mechanism is introduced to improve the searching efficiency. Compared with GA currently being used for CR path optimization, the results of our method have higher system efficiency.