Physics-Based Freely Scalable Continuum Deformation for UAS Traffic Coordination
Physics-Based Freely Scalable Continuum Deformation for UAS Traffic Coordination
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DOI：
10.1109/tcns.2019.2954521
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发表时间：
2019-03
影响因子：
4.2
通讯作者：
H. Rastgoftar;E. Atkins
中科院分区：
文献类型：
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作者：
H. Rastgoftar;E. Atkins
本文提出了一种新的物理启发的交通协调方法，并将其应用于无人机系统（UAS）的交通管理。我们扩展了现有的物理启发的方法，以前适用于1-D的高速公路和城市街道上的交通流，以支持模型的交通协调在更高的维度空域的情况下，没有预定义的路径存在。本文将空域视为一个有限的控制体，而无人机系统的协调，作为连续变形，在空域边界进行控制。通过将空域划分为规划空间和非规划空间，本文将规划空域中的名义协调建模为具有时空参数的偏微分方程的解。本文还通过弹性边界控制算法提高了对车辆故障的弹性，以便在UAS问题威胁到现有可导航空域通道的安全协调时更新规划空间的几何形状。为了在微观层面上支持UAS协调，我们提出了基于车辆性能限制的车辆聚类。UAS集群，每个UAS被视为一个虚拟刚体的粒子，使用领导者-追随者包容来获取宏观期望的轨迹。
This article develops a novel physics-inspired traffic coordination approach and applies it to unmanned aircraft system (UAS) traffic management. We extend available physics-inspired approaches previously applied to 1-D traffic flow on highways and urban streets to support models of traffic coordination in higher dimension airspace for cases where no predefined paths exist. This article considers airspace as a finite control volume while UAS coordination, treated as continuum deformation, is controlled at the airspace boundaries. By partitioning airspace into planned and unplanned spaces, the article models nominal coordination in the planned airspace as the solution of a partial differential equation with spatiotemporal parameters. This article also improves resilience to vehicle failures with a resilient boundary control algorithm to update the geometry of the planned space when UAS problems threaten safe coordination in existing navigable airspace channels. To support UAS coordination at the microscopic level, we propose clustering vehicles based on vehicle performance limits. UAS clusters, with each UAS treated as a particle of a virtual rigid body, use leader–follower containment to acquire the macroscopic desired trajectory.