Real-Time Path Planning for Multi-copters flying in UTM -TCL4

Chakrabarty, Anjan ; Stepanyan, Vahram ; Krishnakumar, Kalmanje ; Ippolito, Corey

关键词: AIR TRAFFIC CONTROL;    AIRSPACE;    ALGORITHMS;    FLIGHT TESTS;    FLIGHT MANAGEMENT SYSTEMS;    HELICOPTERS;    LINE OF SIGHT;    NATIONAL AIRSPACE SYSTEM;    ON-LINE SYSTEMS;    REAL TIME OPERATION;    SYSTEMS MANAGEMENT;    TRAJECTORY PLANNING;    UAS TRAFFIC MANAGEMENT;    UNMANNED AIRCRAFT SYSTEMS;   

RP-ID  :  ARC-E-DAA-TN63605

学科分类：航空航天科学

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

NASA's UAS Traffic management (UTM) -TCL-4 focuses on safely enabling large scale small UAS oper- ations in low altitude airspace in dense urban regions. This paper presents an operational architecture of an autonomous unmanned aerial vehicle operating in TCL4. An on-line path planning scheme is proposed which can effectively plan for feasible paths in real time with TCL-4 constraints. An end to end system is designed and tested in high fidelity Reflection architecture which demonstrates the feasibility of the approach.