A Novel 3D Geometric Algorithm for Aircraft Autonomous Collision Avoidance

This paper presents a novel decision-making algorithm for pair wise non-cooperative aircraft mid-air collision avoidance. An analytical solution for this control problem, based on a three dimensional geometric approach, is derived. It does not require the solution of any programming problem, thus resulting suitable for real-time applications. Moreover, the availability of an analytical solution allows the application of well assessed control analysis and synthesis techniques in order to improve stability and performance robustness. The proposed algorithm performs optimal avoidance maneuvers, both in the horizontal and vertical plane, by minimizing aircraft deviation from its nominal trajectory. Its effectiveness has been proved via numerical simulations, in proper conflict scenarios which take into account aircraft dynamics and on-board sensors limitations