Coloured Petri net-based traffic collision avoidance system encounter model for the analysis of potential induced collisions

Tang, Jun; Piera, Miquel Àngel; Guasch, Toni

doi:10.1016/j.trc.2016.03.001

Cited by 62 publications

(36 citation statements)

References 22 publications

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“…In Persiani and Bagassi (2013), the authors proposed a route planner for the integration of RPAS but they focused on the development of conflict detection and resolution algorithms. Most of these methods address to calculate a TLS depending on operational features that affect primary factors of airspace design (Tang et al, 2016). In this way, no previous report on RPAS integration in non-segregated airspace can be found in the literature, and there is no research on explaining how the decision of a fixed TLS affect the number of RPAS that can be introduced in air traffic volume.…”

Section: Introductionmentioning

confidence: 99%

RPAS conflict-risk assessment in non-segregated airspace

et al. 2019

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The efficient and safe introduction of Remotely Piloted Aircraft System (RPAS) in non-segregated airspace requires a thorough assessment of all operational elements. In this paper, we dealt with the safety problem that arises from the integration of RPAS jointly with conventional aircraft in non-segregated airspace. The authors propose a framework and methodology for airspace design and planning purposes based on a conflict-risk method. This method compares a target level of safety (base-scenario without RPAS) with the calculated level of safety (scenario with RPAS). Moreover, the framework proposes an in-depth assessment by identifying geometrical and operational factors that may affect conflict risk. These conflict-risk factors are critical for RPAS integration and must be assessed to detect relations between them and conflict risk. Moreover, we have performed a sensitivity analysis to assess how RPAS average speed affects conflict risk. A real air traffic volume is studied to characterise a conflict-risk indicator, and different permutations to the base-scenario study the RPAS integration all over airways. Results confirm the validity of the methodology for planning purposes and the viability of RPAS integration without a significant impact on safety but with several restrictions to the RPAS airway distribution.

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Section: Introductionmentioning

confidence: 99%

RPAS conflict-risk assessment in non-segregated airspace

et al. 2019

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“…Formation maintenance is one of the key technologies of UAV cluster technology. At the same time, collision avoidance technology is also the basic problem to be considered in cluster control [5,6]. In response to those problems, this paper studies and analyzes the collision avoidance technology in the case of formation maintenance.…”

Section: Introductionmentioning

confidence: 99%

UAV Group Formation Collision Avoidance Method Based on Second-Order Consensus Algorithm and Improved Artificial Potential Field

2019

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The problem of collision avoidance of an unmanned aerial vehicle (UAV) group is studied in this paper. A collision avoidance method of UAV group formation based on second-order consensus algorithm and improved artificial potential field is proposed. Based on the method, the UAV group can form a predetermined formation from any initial state and fly to the target position in normal flight, and can avoid collision according to the improved smooth artificial potential field method when encountering an obstacle. The UAV group adopts the “leader–follower” strategy, that is, the leader UAV is the controller and flies independently according to the mission requirements, while the follower UAV follows the leader UAV based on the second-order consensus algorithm and formations gradually form during the flight. Based on the second-order consensus algorithm, the UAV group can achieve formation maintenance easily and the Laplacian matrix used in the algorithm is symmetric for an undirected graph. In the process of obstacle avoidance, the improved artificial potential field method can solve the jitter problem that the traditional artificial potential field method causes for the UAV and avoids violent jitter. Finally, simulation experiments of two scenarios were designed to verify the collision avoidance effect and formation retention effect of static obstacles and dynamic obstacles while the two UAV groups fly in opposite symmetry in the dynamic obstacle scenario. The experimental results demonstrate the effectiveness of the proposed method.

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“…However, as a result of the current policy of gradually opening low-altitude airspace in China, potential uncertainties and perturbations may occur in low-altitude airspace traffic management because of increasing airspace density. Each small fixed-wing aircraft must follow its planned fourdimensional (4D) trajectory, which can be defined by a series of sequential waypoints recorded as three-dimensional (3D) spatial information with corresponding timestamps 2 Journal of Advanced Transportation [8][9][10][11][12]. Time and space deviations in one trajectory may affect other 4D trajectories because of the crowded spatiotemporal connectivity between trajectories [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

A Causal Model for Safety Assessment Purposes in Opening the Low-Altitude Urban Airspace of Chinese Pilot Cities

Tang

Yang

2018

Journal of Advanced Transportation

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China has been gradually relaxing its ban on the use of low-altitude airspace across the country. To guarantee the high reliability of air traffic management (ATM), conflict detection and conflict resolution (CDR) approaches are indispensable to maintain safe separation between neighbouring small fixed-wing aircraft. In this study, we analyse a temporal and spatial integrated strategy for safety assessment purposes in opening the low-altitude urban airspace of Chinese pilot cities. First, we present a detailed mathematical description of the proposed algorithms based on a spatial grid partitioning system (SGPS). For our system, a conflict detection (CD) algorithm is designed to determine if two trajectories pass through the same grid space within overlapping time windows. A conflict resolution (CR) algorithm integrates a proposed time scheduling-based technique (TST) and vertical change-based technique (VCT), which operate under predetermined basic principles. Then, based on our novel CDR algorithms, a causal model is constructed in graphical modelling and analysis software (GMAS) to generate a state space that can provide a global perspective on scenario dynamics and better understanding of induced conflict occurrences. Finally, simulation results demonstrate that the proposed approach is practical and efficient.

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Coloured Petri net-based traffic collision avoidance system encounter model for the analysis of potential induced collisions

Cited by 62 publications

References 22 publications

RPAS conflict-risk assessment in non-segregated airspace

RPAS conflict-risk assessment in non-segregated airspace

UAV Group Formation Collision Avoidance Method Based on Second-Order Consensus Algorithm and Improved Artificial Potential Field

A Causal Model for Safety Assessment Purposes in Opening the Low-Altitude Urban Airspace of Chinese Pilot Cities

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