| Citation: | WANG Zekun, WU Minggong, WEN Xiangxi, et al. Flight collision resolution and recovery strategy based on velocity obstacle method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(7): 1294-1302. doi: 10.13700/j.bh.1001-5965.2018.0650(in Chinese)
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A geometric optimization algorithm is proposed based on velocity obstacle method to solve the problem of flight collision resolution and track recovery. We gave a rigorous mathematical description of the problem. Firstly, according to the relative position and speed relationship between the aircraft, the collision type and whether the conditions of each release strategy are met are determined, and the corresponding resolution strategy is adopted. After the collision was resolved, the plane resumed its flight on the original route. The model can effectively solve flight collision through geometric analysis and theoretical derivation. In addition, the track recovery point and the parameter solving process involved are given in detail. Finally, in the simulation, the algorithm chooses the collision resolution strategy independently according to different scenes. The results show that this method is simple and efficient, and the track recovery redirects the ownership to its original target waypoint without introducing new flight collision.
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