Two level obstacles avoidance method for manned aircrafts

Flight guidance is the process of building a flight route for an aircraft from A to B that avoids all obstacles, both physical like mountains, clouds, and virtual such as Air Defense Identification Zones (ADIZ), conflicted territories, etc. In this paper, we propose a 2-level obstacles avoidance method that optimizes not only the length of the flight route but also direction changes and off-planned-route segments.