A Novel 3D Geometric Algorithm for Aircraft Autonomous Collision Avoidance

Abstract

This paper presents a novel decision-making algorithm for pair wise non-cooperative aircraft mid-air collision avoidance. An analytical solution for this control problem, based on a three dimensional geometric approach, is derived. It does not require the solution of any programming problem, thus resulting suitable for real-time applications. Moreover, the availability of an analytical solution allows the application of well assessed control analysis and synthesis techniques in order to improve stability and performance robustness. The proposed algorithm performs optimal avoidance maneuvers, both in the horizontal and vertical plane, by minimizing aircraft deviation from its nominal trajectory. Its effectiveness has been proved via numerical simulations, in proper conflict scenarios which take into account aircraft dynamics and on-board sensors limitations.I. INTRODUCTION AIRCRAFT mid-air collision is still an unresolved problem, as available mishap data [1] show. This situation is anticipated to become worse with the increasing emerging traffic of small business aircraft, Very Light Aircraft (VLA) operating from and to secondary airports. On the other hand, in order to increase aircraft capacity in the airspace, with the expected increase of civil Unmanned Aircraft Vehicles (UAVs) a robust autonomous collision avoidance (ACA) system must be designed, developed and put in place [3]. Notice that an ACA system works on a short-term time horizon (less than one minute) and it is considered as an emergency function autonomously engaged, at close ranges [2].In general, it is composed of on-board detection sensors and decision-making algorithms. This paper focuses only on the decision-making algorithm part.A comprehensive survey of conflict detection and resolution approaches is provided in [4]. It is worthwhile noticing that most of the methods presented in literature are not suitable for real-time applications, because of the nondeterministic computational time needed for taking a decision. In [5] authors solve the problem of two aircraft conflict-prone as a two-person zero-sum dynamic game of the pursuer-evader variety, by computing reachable sets defining regions of guaranteed safety. The main disadvantage of this approach is that the algorithm takes

3D collision avoidance algorithm for Unmanned Aerial Vehicles with limited field of view constraints

“…In [6] navigation functions are used to avoid collision between autonomous vehicles under actuation and sensing constraints, although not limited in FOV. Avoidance maneuvers for aircraft have been presented in [7] and validated for constrained sensing (both in range and in FOV), although no analytical proof of collision avoidance is presented. In [8] the authors introduce a gyroscopic force field to improve the collision avoidance capability of the navigation function for holonomic agents.…”

Distributed deconfliction algorithm for Unmanned Aerial Vehicles with limited range and field of view sensors

“…In [6] navigation functions are used to avoid collision between autonomous vehicles under actuation and sensing constraints. Avoidance maneuvers for aircraft have been presented in [7] and validated for constrained sensing (both in range and in field of view), although they leverage more geometrical reasoning than navigation functions. In [8], the authors showed that a specific navigation function, known as dipolar function, guarantees collision avoidance for agents with fixed-wing dynamics.…”

UAV Autonomous Collision Avoidance Method Based on Three-dimensional Dynamic Collision Region Model and Interfered Fluid Dynamical System

“…For collision avoidance research of UAVs or other aircrafts, Carbone et al [3] presented a novel decision-making algorithm for pair wise non-cooperative aircraft mid-air collision avoidance. And intruder is modeled as a sphere with radius R (considered as safety bubble).…”