M. A., Sajid Ahamed (Indian Institute of Science), Kushwaha, Satya Prakash (Indian Institute of Science), Jana, Shuvrangshu (Indian Institute of Science), Ghose, Debasish (Indian Institute of Science)

UAS Flight Path Planning Using Numerical Potential Fields in Dense Non-Segregated Airspace

Scheduled for presentation during the Regular Session "Path Planning VI" (FrA3), Friday, June 18, 2021, 09:20−09:40, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

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.