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Method and device for path planning of mixed airspace heterogeneous aircrafts

A path planning and aircraft technology, applied in the field of aircraft, to achieve the effect of reasonable path, small algorithm time complexity, and fast path planning

Active Publication Date: 2018-02-09
BEIHANG UNIV
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Problems solved by technology

[0007] Aiming at the existing problems, the present invention considers the uncertainty existing therein, and based on the improved particle swarm optimization algorithm, solves the path planning problem of heterogeneous aircraft in mixed airspace, and specifically provides a path planning for heterogeneous aircraft in mixed airspace Method and device

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  • Method and device for path planning of mixed airspace heterogeneous aircrafts

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Embodiment Construction

[0033] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0034] Firstly, the model established by the present invention for the mixed airspace, heterogeneous aircrafts and dangerous areas in it will be described. For the convenience of description, the present invention assumes that the airspace is a cube with a side length of 2L and a center coordinate of (0,0,0).

[0035] Randomly assign a starting point x to each aircraft i from the boundary surface of the airspace o =(x i,o ,y i,o ,z i,o ), and then randomly select a destination point x on the opposite side d =(x i,d ,y i,d ,z i,d ). The position of aircraft i is denoted as (x i ,y i ,z i ), for the convenience of calculation, the initial path of each aircraft is directly from the starting point x o Fly in a straight line to the destination point x d , use the m bisection points on the path to represent this path. Considering that the degr...

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Abstract

The invention provides a method and device for path planning of mixed airspace heterogeneous aircrafts and belongs to the technical field of aircrafts. A path planning device includes an information acquisition module, a conflict detection module, a collision risk assessment module and a path planning module. The information acquisition module is used to obtain information of all aircrafts, the conflict detection module is used to determine whether a conflict occurs between the two aircrafts and whether the aircrafts pass through a dangerous area, and the collision risk assessment module is used to evaluate the safety of the aircrafts under certain uncertainties. The path planning module optimizes paths of each aircraft through a particle swarm optimization algorithm. The method for path planning includes the steps of first establishing a path planning model for the aircrafts in a mixed airspace; adopting a Monte Carlo method to measure the influence of the uncertainties on air safety,wherein obtained results are closer to practical flight and the planned path is more reasonable; and finally adopting the particle swarm optimization algorithm to optimize the path of each aircraft.The algorithm is small in time complexity, and the path planning is faster.

Description

technical field [0001] The invention belongs to the technical field of aircraft, and relates to a path planning method and device for heterogeneous aircraft in mixed airspace. Background technique [0002] In air traffic management system, the problem of multi-vehicle path planning has always been a research hotspot. The multi-aircraft path planning method in limited airspace generally has two goals: on the one hand, determine the safe flight route for all aircraft, the safety envelopes between the aircraft do not overlap, the aircraft safety envelopes do not overlap in the dangerous area, and the aircraft can reach the intended destination; On the one hand, under the condition of ensuring the safety of the aircraft, it is necessary to reduce the flight distance as much as possible, reduce the flight cost, and improve the flight efficiency. [0003] With the rapid development of the aviation industry, the number of various aircrafts has increased dramatically, while most of...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 曹先彬杜文博张林李宇萌
Owner BEIHANG UNIV
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