Route planning for obstacle avoidance of UAM aircraft based on runtime assurance and APF

Lei Dong; Boyao Liang; Peng Wang; Xi Chen; Jiachen Liu; Qi Wang

doi:10.1117/12.3039764

28 August 2024 Route planning for obstacle avoidance of UAM aircraft based on runtime assurance and APF

Lei Dong, Boyao Liang, Peng Wang, Xi Chen, Jiachen Liu, Qi Wang

Proceedings Volume 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024); 1325153 (2024) https://doi.org/10.1117/12.3039764
Event: 9th International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 2024, Guilin, China

Abstract

In urban air traffic environments, aircraft face dynamic and random obstacles that may cause single route planning algorithms to fail in completely avoiding collisions, thereby compromising flight safety. To address this issue, this paper proposes a runtime assurance(RTA) strategy that combines a three-dimensional artificial potential field method with a dynamic conflict resolution mechanism. This strategy integrates global route planning with dynamic emergency obstacle avoidance scenarios, switching between states based on aircraft status data. When the global route planning algorithm produces unsafe trajectories, the RTA switcher transfers control to the emergency obstacle avoidance algorithm. This enhances the aircraft’s ability to avoid unforeseen random obstacles, and control is reverted to global route planning once the emergency is resolved. Experimental results demonstrate that, compared to traditional single-method approaches, the proposed runtime assurance strategy shows higher planning efficiency and safety in dealing with dynamic random obstacles, proving its effectiveness and practicality.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Lei Dong, Boyao Liang, Peng Wang, Xi Chen, Jiachen Liu, and Qi Wang "Route planning for obstacle avoidance of UAM aircraft based on runtime assurance and APF", Proc. SPIE 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 1325153 (28 August 2024); https://doi.org/10.1117/12.3039764

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