Multi Agent Guidance Algorithm for Air Mobility by Reverse Spacetime Harmonic Potential Field

For the social implementation of delivery services by uncrewed aerial vehicles, safety of flight path and punctuality are important. The author aims to develop a guidance algorithm that satisfies these requirements as a part of the uncrewed air traffic management system. In this paper, the algorithm using a new potential field method based on reverse search approach in spacetime, is proposed. The 3D (2D space and time) simulation of 54 scenarios is performed, and the result verifies that the proposed algorithm generates flight plans for five drones to arrive simultaneously without conflict in just one time and reduces the number of attempts significantly compared to the conventional method of 53 attempts.