Autonomous path planning

1. A system comprising:

a runway selector module configured to select a landing waypoint for an aircraft on a runway based on traffic classification data that indicates the location and direction of one or more additional aircraft;

a leg sequencer module configured to:

select a starting waypoint based on a location of the aircraft relative to the runway and a heading of the aircraft relative to the runway; and

select additional waypoints between the starting waypoint and the landing waypoint, wherein the starting waypoint and the additional waypoints each include a latitude variable, a longitude variable, and an altitude variable, and wherein a sequence of waypoints from the starting waypoint to the landing waypoint via the additional waypoints indicates a desired location for the aircraft to traverse prior to landing on the runway at the landing waypoint; and

a pattern planner module configured to:

generate one or more location constraints for the starting waypoint and each of the additional waypoints;

generate an objective function for optimizing at least one of the variables associated with the starting waypoint and the additional waypoints;

generate a solution for the objective function subject to the location constraints, wherein the solution includes latitude values, longitude values, and altitude values for each of the latitude variables, longitude variables, and altitude variables associated with the starting waypoint and the additional waypoints; and

output a landing pattern data structure to a flight control system, wherein the landing pattern data structure includes the starting waypoint, the additional waypoints, the landing waypoint, and the corresponding latitude values, longitude values, and altitude values.

2. The system of claim 1 , wherein the runway selector module is configured to select the runway for landing based on the traffic classification data.

3. The system of claim 2 , wherein selecting the runway comprises determining that the runway is currently in use based on the traffic classification data.

4. The system of claim 2 , wherein selecting the runway comprises identifying a set of one or more active runways based on the traffic classification data, wherein the set of one or more active runways includes the runway.

5. The system of claim 1 , wherein the leg sequencer module is configured to select the starting waypoint based on the traffic classification data.

6. The system of claim 1 , wherein the pattern planner module is configured to generate the objective function based on the traffic classification data.

7. The system of claim 1 , wherein the sequence of waypoints from the starting waypoint to the landing waypoint via the additional waypoints forms a downwind leg parallel to the runway, a base leg, and a final leg in line with the runway that terminates at the landing waypoint, wherein the downwind leg and the base leg meet at a first vertex, and wherein the base leg and the final leg meet at a second vertex.

8. The system of claim 7 , wherein one or more of the location constraints includes a length of at least one of the downwind leg, the base leg, and the final leg.

9. The system of claim 7 , wherein the starting waypoint is an approach waypoint outside of the downwind leg, and wherein the path from the starting waypoint to a first additional waypoint forms an approach leg that meets the downwind leg at a third vertex.

10. The system of claim 9 , wherein the approach leg passes over the runway.

11. The system of claim 1 , wherein the pattern planner module is configured to:

generate one or more time of arrival constraints for at least one of the starting waypoint and the additional waypoints; and

generate the solution for the objective function subject to the one or more time of arrival constraints.

12. The system of claim 1 , wherein the pattern planner module is configured to:

generate one or more speed constraints for at least one of the starting waypoint and the additional waypoints; and

generate the solution for the objective function subject to the one or more speed constraints.

13. The system of claim 1 , wherein the pattern planner module is configured to generate the objective function based on a desired speed for at least one of the starting waypoint, the additional waypoints, and the landing waypoint.

14. The system of claim 1 , wherein the traffic classification data indicates velocity of the one or more additional aircraft.

15. The system of claim 1 , further comprising a traffic classifier module configured to generate the traffic classification data based on at least one of radar data, camera data, and light detection and ranging (Lidar) data.

16. The system of claim 1 , further comprising a traffic classifier module configured to generate the traffic classification data based on data received from the one or more additional aircraft.

17. The system of claim 1 , further comprising a traffic classifier module configured to generate the traffic classification data based on data received from a ground communication system.

18. A method comprising:

selecting a landing waypoint for an aircraft on a runway based on traffic classification data that indicates the location and direction of one or more additional aircraft;

selecting a starting waypoint based on a location of the aircraft relative to the runway and a heading of the aircraft relative to the runway;

selecting additional waypoints between the starting waypoint and the landing waypoint, wherein the starting waypoint and the additional waypoints each include a latitude variable, a longitude variable, and an altitude variable, and wherein a sequence of waypoints from the starting waypoint to the landing waypoint via the additional waypoints indicates a desired location for the aircraft to traverse prior to landing on the runway at the landing waypoint;

generating one or more location constraints for the starting waypoint and each of the additional waypoints;

generating an objective function for optimizing at least one of the variables associated with the starting waypoint and the additional waypoints;

generating a solution for the objective function subject to the location constraints, wherein the solution includes latitude values, longitude values, and altitude values for each of the latitude variables, longitude variables, and altitude variables associated with the starting waypoint and the additional waypoints; and

controlling the aircraft to follow a landing pattern that traverses the starting waypoint and the additional waypoints according to the latitude values, longitude values, and altitude values.

19. The method of claim 18 , further comprising

selecting the runway for landing based on the traffic classification data.

20. The method of claim 19 , wherein selecting the runway comprises determining that the runway is currently in use based on the traffic classification data.

21. The method of claim 19 , wherein selecting the runway comprises identifying a set of one or more active runways based on the traffic classification data, wherein the set of one or more active runways includes the runway.

22. The method of claim 18 , further comprising

selecting the starting waypoint based on the traffic classification data.

23. The method of claim 18 , further comprising

generating the objective function based on the traffic classification data.

24. The method of claim 18 , wherein the sequence of waypoints from the starting waypoint to the landing waypoint via the additional waypoints forms a downwind leg parallel to the runway, a base leg, and a final leg in line with the runway that terminates at the landing waypoint, wherein the downwind leg and the base leg meet at a first vertex, and wherein the base leg and the final leg meet at a second vertex.

25. The method of claim 24 , wherein one or more of the location constraints includes a length of at least one of the downwind leg, the base leg, and the final leg.

26. The method of claim 24 , wherein the starting waypoint is an approach waypoint outside of the downwind leg, and wherein the path from the starting waypoint to a first additional waypoint forms an approach leg that meets the downwind leg at a third vertex.

27. The method of claim 26 , wherein the approach leg passes over the runway.

28. The method of claim 18 , further comprising:

generating one or more time of arrival constraints for at least one of the starting waypoint and the additional waypoints; and

generating the solution for the objective function subject to the one or more time of arrival constraints.

29. The method of claim 18 , further comprising:

generating one or more speed constraints for at least one of the starting waypoint and the additional waypoints; and

generating the solution for the objective function subject to the one or more speed constraints.

30. The method of claim 18 , further comprising generating the objective function based on a desired speed for at least one of the starting waypoint, the additional waypoints, and the landing waypoint.

31. The method of claim 18 , wherein the traffic classification data indicates velocity of the one or more additional aircraft.

32. The method of claim 18 , further comprising generating the traffic classification data based on at least one of radar data, camera data, and light detection and ranging (Lidar) data.

33. The method of claim 18 , further comprising generating the traffic classification data based on data received from the one or more additional aircraft.

34. The method of claim 18 , further comprising generating the traffic classification data based on data received from a ground communication system.