Evasive maneuvers of optionally piloted air vehicles for three-dimensional geofencing

The proposed algorithm prevents an air vehicle to leave a pre-defined flight area including an optional number of non-flight zones in three-dimensional airspace. This work is based on previously published articles and, as a result, complements a fully-automatic geofencing module for three-dimensional space. The main contribution of this paper is the activation, planning, and conduction of three-dimensional evasive maneuvers for wing-borne flight when the air vehicle hits the boundary of a pre-flight calculated safety area. Since the safety area can be violated in altitude, aside or both simultaneously, a maneuver trigger logic is proposed, which initiates the appropriate maneuver. The evasive maneuvers are designed such that the air vehicle does not exceed airworthiness limitations.