Coordinated multi-aircraft 4D trajectories planning considering buffer safety distance and fuel consumption optimization via pure-strategy game
Coordinated multi-aircraft 4D trajectories planning considering buffer safety distance and fuel consumption optimization via pure-strategy game
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DOI：
10.1016/j.trc.2017.05.008
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发表时间：
2017-08
影响因子：
8.3
通讯作者：
Xiongwen Qian;Jianfeng Mao;Chun-Hsien Chen;Songlin Chen;Changpeng Yang
中科院分区：
文献类型：
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作者：
Xiongwen Qian;Jianfeng Mao;Chun-Hsien Chen;Songlin Chen;Changpeng Yang
在本文中，我们考虑一个协调的多飞机4D（3D空间加时间）的轨迹规划问题，这是说明规划4D轨迹穿越空中交通管制（ATC）部门的飞机。规划的4D轨迹需要随时指定每架飞机的位置，确保无冲突并减少燃料和延迟成本，以及可能的飞机机动，如速度调整和飞行高度变化。与现有文献不同的是，本文还考虑了缓冲区安全距离的影响，保证了在任意给定时刻（而不仅仅是离散时刻）的无冲突。该问题被表述为一个纯策略游戏，以飞机为参与者，所有可能的4D轨迹为策略。提出了一种有效的最大改进分布式算法，在不预先枚举所有可能的四维轨迹的情况下，找到每架飞机不能单方面进一步改进的平衡点。证明了平衡点的存在性和算法的收敛性。基于真实的空中交通数据的算例表明，该算法能够在线求解4D航迹，节省约16.7%的费用，并在最小分离点处分配充足的缓冲安全距离。计算实验验证了算法的可扩展性。
In this paper, we consider a coordinated multi-aircraft 4D (3D space plus time) trajectories planning problem which is illustrated by planning 4D trajectories for aircraft traversing an Air Traffic Control (ATC) sector. The planned 4D trajectories need to specify each aircraft’s position at any time, ensuring conflict-free and reducing fuel and delay costs, with possible aircraft maneuvers such as speed adjustment and flight level change. Different from most existing literature, the impact of buffer safety distance is also under consideration, and conflict-free is guaranteed at any given time (not only at discrete time instances). The problem is formulated as a pure-strategy game with aircraft as players and all possible 4D trajectories as strategies. An efficient maximum improvement distributed algorithm is developed to find equilibrium at which every aircraft cannot unilaterally improve further, without enumerating all possible 4D trajectories in advance. Proof of existence of the equilibrium and convergence of the algorithm are given. A case study based on real air traffic data shows that the algorithm is able to solve 4D trajectories for online application with estimated 16.7% reduction in monetary costs, and allocate abundant buffer safety distance at minimum separation point. Scalability of the algorithm is verified by computational experiments.