Constant speed optimal reciprocal collision avoidance
International audience In this article, the Optimal Reciprocal Collision Avoidance (ORCA) algorithm is modified to make it work for speed constrained aircraft. The adaptation of ORCA to aircraft conflict resolution shows that when the speed norm is constrained, aircraft flying within the same speed...
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ftenac:oai:HAL:hal-01903018v1 2024-04-21T08:09:53+00:00 Constant speed optimal reciprocal collision avoidance Durand, Nicolas Ecole Nationale de l'Aviation Civile (ENAC) 2018-11 https://enac.hal.science/hal-01903018 https://enac.hal.science/hal-01903018/document https://enac.hal.science/hal-01903018/file/article.pdf https://doi.org/10.1016/j.trc.2018.10.004 en eng HAL CCSD Elsevier info:eu-repo/semantics/altIdentifier/doi/10.1016/j.trc.2018.10.004 hal-01903018 https://enac.hal.science/hal-01903018 https://enac.hal.science/hal-01903018/document https://enac.hal.science/hal-01903018/file/article.pdf doi:10.1016/j.trc.2018.10.004 info:eu-repo/semantics/OpenAccess ISSN: 0968-090X EISSN: 1879-2359 Transportation research. Part C, Emerging technologies https://enac.hal.science/hal-01903018 Transportation research. Part C, Emerging technologies, 2018, pp.Pages 366-379. ⟨10.1016/j.trc.2018.10.004⟩ ORCA CSORCA self-separation geometrical algorithm air traffic [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC] info:eu-repo/semantics/article Journal articles 2018 ftenac https://doi.org/10.1016/j.trc.2018.10.004 2024-03-28T00:56:25Z International audience In this article, the Optimal Reciprocal Collision Avoidance (ORCA) algorithm is modified to make it work for speed constrained aircraft. The adaptation of ORCA to aircraft conflict resolution shows that when the speed norm is constrained, aircraft flying within the same speed range with small angle converging trajectories tend to remain on parallel tracks, preventing a resolution of the conflict. The ORCA algorithm is slightly modified to avoid this behavior. In the new algorithm called CSORCA (Constant Speed Optimal Reciprocal Collision Avoidance), the directions of the semi-plane used to calculate the conflict free maneuvers are modified when the relative speed vector is in the semi-circular part of the conflicting area. After explaining the reasons that make the original algorithm fail in the constant speed environment, the modification made on the algorithm is detailed and its impact on a simple example is shown. The new strategy is also compared to an Add-Up strategy close to the Airborne Separation Assurance System (ASAS) strategy found in the literature. Hundreds of fast time simulations are then performed to compare the two versions of the algorithm for different traffic densities in the horizontal plane. In these simulations the speed norm is first constrained. The aircraft can only change direction with a limited turning rate. Simulations with released speed constraints are then performed to compare the behavior of both algorithms in a more general environment. In all the scenarios tested, CSORCA is more efficient than ORCA to solve conflicts. Article in Journal/Newspaper Orca ENAC: HAL (Ecole Nationale de l’Aviation Civile) Transportation Research Part C: Emerging Technologies 96 366 379 |
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ENAC: HAL (Ecole Nationale de l’Aviation Civile) |
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English |
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ORCA CSORCA self-separation geometrical algorithm air traffic [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC] |
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ORCA CSORCA self-separation geometrical algorithm air traffic [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC] Durand, Nicolas Constant speed optimal reciprocal collision avoidance |
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ORCA CSORCA self-separation geometrical algorithm air traffic [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC] |
description |
International audience In this article, the Optimal Reciprocal Collision Avoidance (ORCA) algorithm is modified to make it work for speed constrained aircraft. The adaptation of ORCA to aircraft conflict resolution shows that when the speed norm is constrained, aircraft flying within the same speed range with small angle converging trajectories tend to remain on parallel tracks, preventing a resolution of the conflict. The ORCA algorithm is slightly modified to avoid this behavior. In the new algorithm called CSORCA (Constant Speed Optimal Reciprocal Collision Avoidance), the directions of the semi-plane used to calculate the conflict free maneuvers are modified when the relative speed vector is in the semi-circular part of the conflicting area. After explaining the reasons that make the original algorithm fail in the constant speed environment, the modification made on the algorithm is detailed and its impact on a simple example is shown. The new strategy is also compared to an Add-Up strategy close to the Airborne Separation Assurance System (ASAS) strategy found in the literature. Hundreds of fast time simulations are then performed to compare the two versions of the algorithm for different traffic densities in the horizontal plane. In these simulations the speed norm is first constrained. The aircraft can only change direction with a limited turning rate. Simulations with released speed constraints are then performed to compare the behavior of both algorithms in a more general environment. In all the scenarios tested, CSORCA is more efficient than ORCA to solve conflicts. |
author2 |
Ecole Nationale de l'Aviation Civile (ENAC) |
format |
Article in Journal/Newspaper |
author |
Durand, Nicolas |
author_facet |
Durand, Nicolas |
author_sort |
Durand, Nicolas |
title |
Constant speed optimal reciprocal collision avoidance |
title_short |
Constant speed optimal reciprocal collision avoidance |
title_full |
Constant speed optimal reciprocal collision avoidance |
title_fullStr |
Constant speed optimal reciprocal collision avoidance |
title_full_unstemmed |
Constant speed optimal reciprocal collision avoidance |
title_sort |
constant speed optimal reciprocal collision avoidance |
publisher |
HAL CCSD |
publishDate |
2018 |
url |
https://enac.hal.science/hal-01903018 https://enac.hal.science/hal-01903018/document https://enac.hal.science/hal-01903018/file/article.pdf https://doi.org/10.1016/j.trc.2018.10.004 |
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Orca |
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Orca |
op_source |
ISSN: 0968-090X EISSN: 1879-2359 Transportation research. Part C, Emerging technologies https://enac.hal.science/hal-01903018 Transportation research. Part C, Emerging technologies, 2018, pp.Pages 366-379. ⟨10.1016/j.trc.2018.10.004⟩ |
op_relation |
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.trc.2018.10.004 hal-01903018 https://enac.hal.science/hal-01903018 https://enac.hal.science/hal-01903018/document https://enac.hal.science/hal-01903018/file/article.pdf doi:10.1016/j.trc.2018.10.004 |
op_rights |
info:eu-repo/semantics/OpenAccess |
op_doi |
https://doi.org/10.1016/j.trc.2018.10.004 |
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Transportation Research Part C: Emerging Technologies |
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96 |
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366 |
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379 |
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