This paper addresses the problem of Urban aerial mobility (UAM), which refers to an air transportation system wherein unmanned aircraft systems (UAS's) are utilized to deliver small payloads on-demand by safely maneuvering in the known urban infrastructure occupied by dynamic air traffic. A multilevel framework is proposed that provides a solution for UAM in the non-segregated airspace. The proposed method takes advantage of a prediction-based zone partitioning algorithm that minimizes high-density traffic encounters. Numerical potential fields are used for global path planning as they provide optimum standoff clearance from obstacles and high-density traffic present in the environment. In the event of low-density traffic, a simple but effective octant-based local collision avoidance strategy is used.
UAS Flight Path Planning using Numerical Potential Fields in Dense Non-segregated Airspace
2021-06-15
2551428 byte
Conference paper
Electronic Resource
English
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