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.


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    Title :

    UAS Flight Path Planning using Numerical Potential Fields in Dense Non-segregated Airspace


    Contributors:


    Publication date :

    2021-06-15


    Size :

    2551428 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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