Aircraft collision avoidance with potential gradient—ground-based avoidance for horizontal maneuvers

This paper describes ground-based avoidance for horizontal maneuvers using a concept of potential as a collision avoidance aircraft procedure. First, mathematical formulation is introduced by using potential as a way to systematically represent the conditions contributing to collision avoidance such as a threat of collision with other aircraft and degrees of deviation from the original course. The flight course with a lower potential is considered safer. In the choice of a specific avoidance course, an avoidance pattern generation method by means of potential gradient is shown. the future location of the aircraft is sampled at a certain time interval. the shift of the sampling point corresponding to the potential gradient at each sampling point or the force applied to each sampling point (attractive or repulsive) is repeated. It was confirmed that by means of this method, avoidance patterns without danger of collision can be obtained with only horizontal avoidance except for special cases. However, when the sampling points are symmetric or when more than three aircraft are involved, the procedure is not adequate and some provisions are needed. to this end, the sampling point arrangement in the initial stage before the avoidance pattern is formed and the three-dimensional avoidance including vertical avoidance can be considered.