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

MA, SA and Satya Prakash, K and Jana, S and Ghose, D (2021) UAS Flight Path Planning using Numerical Potential Fields in Dense Non-segregated Airspace. In: 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, 15-18 Jun 2021, Athens, pp. 1010-1019.

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Abstract

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. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Air transportation; Aircraft accidents; Antennas; Flight paths; Urban transportation, Air transportation systems; Global path planning; Local collision avoidances; Prediction-based; Traffic encounters; Unmanned aircraft system; Urban infrastructure; Zone partitioning, Unmanned aerial vehicles (UAV)
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	20 Nov 2021 11:35
Last Modified:	20 Nov 2021 11:35
URI:	http://eprints.iisc.ac.in/id/eprint/69897

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