Constant speed optimal reciprocal collision avoidance |
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Institution: | 1. Institut des Nanotechnologies de Lyon, INL-UMR5270, INSA Lyon, 21 av. Jean Capelle, 69100 Villeurbanne, France;2. Association pour l''Utilisation du Rein Artificiel dans la région Lyonnaise (AURAL), 124, rue Villon, 69008 Lyon, France;3. CEA-LETI, Université Grenoble-Alpes, Minatec Campus, 38054 Grenoble, France;4. BioparHom, 89 rue Pierre et Marie Curie, 73290 La Motte Servolex, France;1. School of Modern Post, Beijing University of Posts and Telecommunications, Beijing 100876, China;2. Civil and Environmental Engineering, University of South Florida, Tampa, FL 33620, USA;3. Transportation Research Engineer, Leidos, Inc, Reston, VA 20190, USA;1. Department of Civil Engineering, The City College of New York, 160 Convent Ave., New York, NY 10031, USA |
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Abstract: | In this article, the Optimal Reciprocal Collision Avoidance (ORCA) algorithm is modified to make it work for speed constrained aircraft. The adaptation of ORCA to aircraft conflict resolution shows that when the speed norm is constrained, aircraft flying within the same speed range with small angle converging trajectories tend to remain on parallel tracks, preventing a resolution of the conflict. The ORCA algorithm is slightly modified to avoid this behavior. In the new algorithm called CSORCA (Constant Speed Optimal Reciprocal Collision Avoidance), the directions of the semi-plane used to calculate the conflict free maneuvers are modified when the relative speed vector is in the semi-circular part of the conflicting area. After explaining the reasons that make the original algorithm fail in the constant speed environment, the modification made on the algorithm is detailed and its impact on a simple example is shown. The new strategy is also compared to an Add-Up strategy close to the Airborne Separation Assurance System (ASAS) strategy found in the literature. Hundreds of fast time simulations are then performed to compare the two versions of the algorithm for different traffic densities in the horizontal plane. In these simulations the speed norm is first constrained. The aircraft can only change direction with a limited turning rate. Simulations with released speed constraints are then performed to compare the behavior of both algorithms in a more general environment. In all the scenarios tested, CSORCA is more efficient than ORCA to solve conflicts. |
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Keywords: | ORCA CSORCA Self-separation Geometrical algorithm Air traffic control UAS |
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