Aircraft Local Motion Planning for 3D Obstacle Avoidance

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Current autonomous aircraft systems lack effective methods for real-time obstacle avoidance in three-dimensional space, particularly in situations where preplanned routes are obstructed, leading to potential hazards and route deviations.

Innovation Solution

The implementation of an autonomous local motion planner module within the flight control system that detects obstructions and generates alternative three-dimensional routes to avoid them, while ensuring the aircraft returns to the original route after safely passing the obstruction, utilizing sensors and preplanned route data to ensure safety and efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the aircraft follows a preplanned three-dimensional route, then route efficiency and predictability are improved, but the system cannot respond to unexpected obstructions leading to potential hazards

Engineering Contradiction:

ImprovesafetyVSAvoidobstacle avoidance capability

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The navigation system is segmented into two independent modules: a global route planner that manages the preplanned three-dimensional route and a local motion planner that handles real-time obstacle avoidance. This segmentation allows each module to specialize - the global planner maintains route efficiency while the local planner provides adaptive response to obstructions, resolving the contradiction between reliability and adaptability

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system performs preliminary action by preplanning the three-dimensional route in advance while also preparing the local motion planner with obstacle detection capabilities. When obstructions are detected, the local planner has already been activated and can immediately generate avoidance maneuvers without delaying the aircraft's response, thus maintaining both route fidelity and safety

Inventive Principle:

Principle #10Preliminary action

2Reliability

If the aircraft deviates from the preplanned route to avoid obstructions, then safety is improved, but route integrity and efficiency deteriorate

Engineering Contradiction:

ImprovesafetyVSAvoidroute deviation time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The local motion planner dynamically generates avoidance routes based on real-time obstruction detection and automatically transitions the aircraft back to the original preplanned route once the obstruction is cleared. This dynamic approach ensures minimal deviation from the intended path, reducing time loss while maintaining safety during critical avoidance maneuvers

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system continuously monitors the flight environment for obstructions and provides feedback to the local motion planner. When no obstructions are detected, the system receives feedback to return to the preplanned route. This closed-loop feedback mechanism ensures that route deviations occur only when necessary for safety, minimizing unnecessary time loss while maintaining route integrity

Inventive Principle:

Principle #23Feedback

3Adaptability or versatility

If a local motion planner is added for real-time obstacle avoidance, then adaptability is improved, but system complexity increases

Engineering Contradiction:

Improveobstacle avoidance capabilityVSAvoidcontrol system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

By segmenting the control system into distinct global and local planning modules with clearly defined interfaces, the patent manages complexity through modular architecture. Each module operates independently with specific responsibilities, making the overall system more maintainable and easier to implement despite the added functionality

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The local motion planner is designed as a universal module that can handle various types of obstructions and generate different avoidance maneuvers. This multi-functional design consolidates multiple obstacle response capabilities into a single integrated component, reducing overall system complexity compared to having separate specialized systems for each scenario

Inventive Principle:

Principle #6Universality (Multi-functionality)

4Productivity

If the aircraft maintains strict adherence to the preplanned route, then route efficiency is improved, but the ability to avoid hazards in real-time deteriorates

Engineering Contradiction:

Improveroute efficiencyVSAvoidobstruction impact

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system operates in three-dimensional space with the global planner defining the optimal three-dimensional route for efficiency. The local planner adds another dimension of safety by detecting obstructions and generating avoidance maneuvers that may temporarily deviate from the planned path. This dimensional approach allows the system to maintain route efficiency in normal conditions while providing hazard avoidance capability when needed

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS11592843B2Autonomous aircraft local planning to avoid obstructions

Publication Date: 2023.02.28 LOCKHEED MARTIN CORP

AI summary

A technique relates to autonomous obstacle avoidance. A vehicle is controlled on a route to a destination, the route being a three-dimensional route. An obstruction is determined on the global route. A local route including alternate points to avoid the obstruction is autonomously determined. The local route is autonomously converged back to the global route in response to avoiding the obstruction.