TY - GEN
T1 - Computation of a Database of Trajectories and Primitives for Decision-Based Contingency Management of UAVs over Congested Areas
AU - Ortlieb, Markus
AU - Adolf, Florian Michael
AU - Holzapfel, Florian
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
KW - U-Space
KW - UTM
KW - Urban Air Mobility
KW - contingency planning
KW - deterministic planning
KW - path planning
UR - http://www.scopus.com/inward/record.url?scp=85122798025&partnerID=8YFLogxK
U2 - 10.1109/DASC52595.2021.9594333
DO - 10.1109/DASC52595.2021.9594333
M3 - Conference contribution
AN - SCOPUS:85122798025
T3 - AIAA/IEEE Digital Avionics Systems Conference - Proceedings
BT - 40th Digital Avionics Systems Conference, DASC 2021 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 40th IEEE/AIAA Digital Avionics Systems Conference, DASC 2021
Y2 - 3 October 2021 through 7 October 2021
ER -