Computation of a Database of Trajectories and Primitives for Decision-Based Contingency Management of UAVs over Congested Areas

Markus Ortlieb, Florian Michael Adolf, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

We present a novel approach to enable provably safe contingency path planning in complex high-risk environments within a strict regulatory framework. We decompose the flight planning task between a network of vertiports into an offline and an online phase. This work focuses on the offline phase covering the flight planning, which can be validated to fulfill regulatory boundary conditions and target safety levels before flight. In the online phase the planning task is collapsed to a trajectory selection problem, which is low dimensional and provides only solutions with guaranteed feasibility. The proposed method computes a tree of trajectories with constant time separation of branches and leading to both the destination and diversion vertiports from each fork point. We further extend the planning tree with motion primitives to enable transitions between flight levels and local holding patterns for temporal deconfliction without a change of the lateral flight profile. We demonstrate the method in a realistic urban scenario and provide metrics for memory and time complexity of the algorithm.

Original languageEnglish
Title of host publication40th Digital Avionics Systems Conference, DASC 2021 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665434201
DOIs
StatePublished - 2021
Event40th IEEE/AIAA Digital Avionics Systems Conference, DASC 2021 - San Antonio, United States
Duration: 3 Oct 20217 Oct 2021

Publication series

NameAIAA/IEEE Digital Avionics Systems Conference - Proceedings
Volume2021-October
ISSN (Print)2155-7195
ISSN (Electronic)2155-7209

Conference

Conference40th IEEE/AIAA Digital Avionics Systems Conference, DASC 2021
Country/TerritoryUnited States
CitySan Antonio
Period3/10/217/10/21

Keywords

  • U-Space
  • UTM
  • Urban Air Mobility
  • contingency planning
  • deterministic planning
  • path planning

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