Reactive Collision Avoidance using Essential Visibility Graphs
Egidio D’Amato, Immacolata Notaro, M. Mattei · 2019
This paper deals with a distributed path planning and Collision Avoidance System (CAS) for multiple aircraft sharing the same airspace. The algorithm is compliant with aircraft limits on maximum turn rate and with environmental constraints resulting from no-fly zones and/or obstacles. The avoidance maneuver is calculated on the basis of the Essential Visibility Graph and Dubins curves. Numerical examples reproducing urban-like environments show the effectiveness of the proposed approach.