Systems and methods for continuous replanning of vehicle trajectories
A method and system for continuously re-planning a vehicle's path, in the face of stationary and moving obstacles, dynamically calculates a new path in real time which is both efficient and maintains minimum safety clearances relative to obstacles. Repulsion signals emanating from obstacles and propagating through delineated sections of a grid representing a geographic space are summed along with values representing the relative distance of the sections from the vehicle origin and vehicle destination. The grid sections having optimal values according to a predetermined criteria represent an efficient and safe travel path between the vehicle origin and destination.
1. A method for planning a path of a vehicle through an area, the method comprising:
modeling, within a computer memory, a selected area of flight space as a plurality of sub-areas;
associating a value with each of the sub-areas based on a propagation of both aircraft and obstacles through the sub-areas up to a current time and into future time;
selecting one of the aircraft as a primary aircraft; and
determining a flight path for the primary aircraft through the airspace based on a component of the value comprising repulsion signals associated with all aircraft other than the primary aircraft and the obstacles.
2. The method of claim 1 , wherein determining the flight path is repeated in response to appearance of a new object.
3. The method of claim 1 , wherein determining the flight path is repeated at a predetermined frequency.
4. The method of claim 1 , wherein determining the flight path is repeated in response to a change in a direction, heading, or altitude of the primary aircraft.
5. The method of claim 1 , wherein the obstacles include weather events.
6. The method of claim 1 , further comprising displaying a grid heat map based on the value of each of the sub areas.
7. The method of claim 1 , wherein associating the value comprises:
summing up the repulsion signals and offsetting the sum of the repulsion signals by an attraction signal associated with the primary aircraft.
8. The method of claim 7 , wherein the repulsion signals are strongest proximate to the aircraft and the obstacles with which each of the repulsion signals are associated, and wherein a strength of the repulsion signals reduces with distance from the aircraft and the obstacles with which each of the repulsion signals are associated.
9. The method of claim 8 , wherein the attraction signal is strongest proximate to the primary aircraft, and wherein a strength of the attraction signal reduces with distance from the primary aircraft.
10. The method of claim 9 , wherein determining the flight path comprises determining, into future time, a series of consecutive sub-areas having one of a greatest or least value and satisfying a rule relative to flight path calculation.
11. A system for planning a path of a vehicle through an area, the system comprising a processor and a memory coupled to the processor for storing data to be processed by the processor, the processor being configured to:
model, within a computer memory, a selected area of flight space as a plurality of sub-areas;
associate a value with each of the sub-areas based on a propagation of both aircraft and obstacles through the sub-areas up to a current time and into future time;
select one of the aircraft as a primary aircraft; and
determine a flight path for the primary aircraft through the airspace based on a component of the value comprising repulsion signals associated with all aircraft other than the primary aircraft and the obstacles.
12. The system of claim 11 , wherein determining the flight path is repeated in response to appearance of a new object.
13. The system of claim 11 , wherein determining the flight path is repeated at a predetermined frequency.
14. The system of claim 11 , wherein determining the flight path is repeated in response to a change in a direction, heading, or altitude of the primary aircraft.
15. The system of claim 11 , wherein the obstacles include weather events.
16. The system of claim 11 , wherein the processor is further configured to display a grid heat map based on the value of each of the sub areas.
17. The system of claim 11 , wherein associating the value comprises:
summing up the repulsion signals and offsetting the sum of the repulsion signals by an attraction signal associated with the primary aircraft.
18. The system of claim 17 , wherein the repulsion signals are strongest proximate to the aircraft and the obstacles with which each of the repulsion signals are associated, and wherein a strength of the repulsion signals reduces with distance from the aircraft and the obstacles with which each of the repulsion signals are associated.
19. The system of claim 18 , wherein the attraction signal is strongest proximate to the primary aircraft, and wherein a strength of the attraction signal reduces with distance from the primary aircraft.
20. The system of claim 19 , wherein determining the flight path comprises determining, into future time, a series of consecutive sub-areas having one of a greatest or least value and satisfying a rule relative to flight path calculation.