Multi-Phase Optimal Path Planning and Conflict Resolution of Aircraft in the Presence of Moving and Static Obstacles

In this paper a new methodology has been present for decentralized trajectory design problem of the aircrafts in a dynamic environment. Multiphase trajectory planning consists of the normal mode or the optimal trajectory planning through the static obstacles, the cooperative conflict resolution mode, and non-cooperative conflict resolution mode under low altitude flying rules. The normal mode changes if the conflict occurs between two or more aircrafts during their mission. It is considered that all the aircrafts being in a conflict zone could communicate with each other. In the conflict resolution modes, the radius of the conflict zone could be adapted from the definition of the minimum time of the aircraft conflict. The aggregated nonlinear point mass equations of the aircrafts motion with some operational constraints were utilized for modeling explanation of the problem. The effectiveness of the introduced method was investigated via a case study including cooperative and non-cooperative conflict resolution for the aircrafts which may fly in a obstacle-laden environment.