<p>This paper introduces a prediction-based interference algorithm in a multi-UAV scenario to calculate and apply the minimum interference-free flight time. The algorithm summarizes the UAV dynamic equation into kinematic equations using a low-level controller. Neighboring UAVs exchange their predicted trajectories at each sampling time to predict interferences. Then, the distributed nonlinear predictor under the interference resolution law and strategy predicts the possible control variables for each UAV and calculates the minimum required travel time. Subsequently, a collision avoidance system is designed based on a predictive distributed controller for tracking, in which anti-collision constraints are defined according to the International Civil Aviation Organization (ICAO) priority rights. To reduce the computational burden, the predictive distributed controller is formulated as a quadratic integer programming optimization problem. The results show that the proposal can resolve conflicts in real time and in the presence of a crowded airspace, while there is no interference and secondary interference. The proposed algorithms were simulated using MATLAB software and the estimated time was compared with the flight time, which showed the favorable performance of the proposed algorithm. Also, to verify the effectiveness of the interference solution, the deviation of the aircraft flight path due to maneuvers and the increase in the path length were shown, and the value of the collision avoidance system was more accurate compared to other aircraft with less efficiency.</p>