Numerical Potential Fields Based Multi-stage Path Planning for UTM in Dense Non-segregated Airspace

Sajid Ahamed, MA and Satya Prakash, K and Jana, S and Ghose, D (2023) Numerical Potential Fields Based Multi-stage Path Planning for UTM in Dense Non-segregated Airspace. In: Journal of Intelligent and Robotic Systems: Theory and Applications, 109 (1).

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Abstract

This paper addresses the problem of Unmanned Aircraft System Traffic Management (UTM), which refers to an air transportation system wherein unmanned aircraft systems (UAS) are used to deliver small payloads on-demand by safely maneuvering in the low-altitude known urban infrastructure inhabited by dynamic air traffic. A multi-stage framework based on numerical potential fields is proposed for establishing UTM in the non-segregated airspace. Numerical potential fields are adopted for global path planning as they provide optimum stand-off clearance from obstacles in the environment. The proposed global path planning approach is augmented with a prediction-based zone determination algorithm to minimize high-density air traffic encounters by the UAS. In the event of low-density traffic in the vicinity of the UAS, the UAS neighborhood is sectorized into octants. An octant-based local collision avoidance strategy generates force fields that divert the UAS into a vacant octant. Extensive simulations have been carried out to show the efficacy of the proposed method in dense urban settings. © 2023, The Author(s), under exclusive licence to Springer Nature B.V.

Item Type:	Journal Article
Publication:	Journal of Intelligent and Robotic Systems: Theory and Applications
Publisher:	Institute for Ionics
Additional Information:	The copyright for this article belongs to the Institute for Ionics.
Keywords:	Air transportation; Aircraft accidents; Collision avoidance; Unmanned aerial vehicles (UAV); Urban transportation, Dynamic zone partitioning; Local collision avoidances; Numerical potential field; Potential field; Traffic management; Unmanned aircraft system; Unmanned aircraft system traffic management; Zone partitioning, Motion planning
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	08 Nov 2023 03:39
Last Modified:	08 Nov 2023 03:39
URI:	https://eprints.iisc.ac.in/id/eprint/83033

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