A method of autonomous flight path planning for a group of cooperating aircraft operating in formation includes: receiving information related to obstructions that interfere with an aircraft of the group continuing on a flight path; calculating a velocity obstacle for each obstruction; calculating a plurality of candidate velocities outside of the velocity obstacles; selecting a first velocity from the candidate velocities and operating a leader of the group at the first velocity; calculating, based upon keeping a follower aircraft in formation, a second velocity for the follower; determining whether the second velocity is inside one of the velocity obstacles; operating the follower at the second velocity when the second velocity is outside the velocity obstacles; and calculating a revised velocity that is outside of the velocity obstacles and operating the follower at the revised velocity when the second velocity is inside one of the velocity obstacles.


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    Titel :

    PATH PLANNING FOR COOPERATED AIR VEHICLES


    Beteiligte:
    MCNAIR MICHAEL (Autor:in) / LI JUAN (Autor:in) / CAMPBELL KIP GREGORY (Autor:in)

    Erscheinungsdatum :

    06.01.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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