Autonomous flight for Multi-copters flying in UTM -TCL4+ sharing common airspace
Anjan Chakrabarty, Corey A. Ippolito · AIAA Scitech 2020 Forum · 2020
NASA's UAS Traffic management (UTM) research initiative has demonstrated the flight of multiple UAVs flying in urban environment. Most of the deconfliction has been demonstrated with separate operational volumes through different USSs. For high density operations in urban environments autonomous vehicles should be able to fly in the same shared airspace take on-board decisions to handle different scenarios and land safely beyond visual line of sight. In this paper we present a complete autonomous architecture for flying an UAV in dense urban environments. The planning architecture consists of a global planner and local planner. The global planner plans path to the goal and alternate landing sites along the way. The local planner is involved in avoiding obstacles along the approved path. An UTM client talks with the connected USS to get flight approvals from UTM and make contingency plans.The entire system is tested in the Reflection Simulation Architecture in the NASA Ames Campus simulation demonstration.