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Cooperative resolution of air traffic conflicts

  • US 5,961,568 A
  • Filed: 07/01/1997
  • Issued: 10/05/1999
  • Est. Priority Date: 07/01/1997
  • Status: Expired due to Term
First Claim
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1. A computer-implemented method for resolving air traffic conflicts, said method comprising the steps of:

  • for each aircraft;

    placing a local goal position in a potential field associated with the aircraft;

    calculating attractive and repulsive forces from the gradient of the potential field;

    calculating a net force using the calculated attractive and repulsive forces;

    calculating initial conditions of a predetermined third-order differential equation that defines the motion of the aircraft;

    integrating the third-order differential equation to compute a velocity vector for the aircraft;

    applying an acceleration constraint to the acceleration vector;

    applying a velocity constraint to the velocity vector;

    applying a turning constraint to the velocity vector;

    calculating a new aircraft position using the constrained velocity vector; and

    removing the local goal position from the potential field.

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