交通信息与安全2024，Vol.42Issue(2)：49-58,66,11.DOI:10.3963/j.jssn.1674-4861.2024.02.005
面向航空器集群的多尺度保护区模型与改进速度障碍法
Multi-scale Protected Zone Models and an Improved Velocity Obstacle Method for Aircraft Swarms
摘要
Abstract
The thesis explores aircraft swarming in dense airspace.A multi-scale protected zone model,coupled with an improved velocity obstacle method,is proposed to solve this.Traditional approaches often rely on a sin-gle-aircraft protected zone model,which utilizes a velocity obstacle method characterized by complex calculations and suboptimal real-time performance.In contrast,a more advanced approach is introduced,featuring a dynamic el-lipsoidal protected zone model and a fusion protected zone model specifically designed for aircraft swarms.These models are crafted to accurately depict the aircraft's flight state and safety intervals.Moreover,the work pioneers the geometric transformation from a single-aircraft protected zone to a swarm-based protected zone.The innovative aircraft swarm protected zone model reduces the dimensional complexity while integrating critical features such as swarm safety intervals and motion characteristics.The paper further develops an improved velocity obstacle method that is grounded on the multi-scale protected zone model.This refined method incorporates a velocity obstacle boundary specifically tailored for aircraft swarms,effectively reducing the computational demands of the algorithm.The proposed models and algorithms successfully portray multiple aircraft as swarms.By establishing boundaries for real-time adjustments in speed and direction specifically for aircraft swarms,they significantly reduce computa-tional complexity.This effectively implements conflict detection and resolution trajectories for aircraft swarms.A comparison of the proposed method with conventional approaches shows a significant improvement in the conflict determination mechanism for aircraft clusters,reducing algorithm computation time by 33%.Additionally,the pro-posed method leads to a decrease in adjustment amplitude by 60.45%,enhancing its overall performance.The meth-od effectively enhances the efficiency of aircraft conflict detection and resolution under swarming phenomena.关键词
空中交通/航空器集群/多尺度保护区模型/改进速度障碍法Key words
air traffic/aircraft swarms/multi-scale protected zone models/improved velocity obstacle method分类
交通工程引用本文复制引用
艾毅,庾映雪,钟庆伟,韩珣,万琪峰..面向航空器集群的多尺度保护区模型与改进速度障碍法[J].交通信息与安全,2024,42(2):49-58,66,11.基金项目
国家自然科学基金项目(62203451)、智能警务四川省重点实验室开放课题(ZNJW2023KFMS001)、四川省科技计划项目(2023JDRC0004)资助 （62203451）
