Safe and Scalable Real-time Trajectory Planner for Urban Air Mobility

Overview

The goal of this project is to develop a real-time planning framework that’s both safe and scalable. The following are the key features of the developed trajectory planner.

1. Decentralized Free-Flight Concept:

   • Every aircraft independently handles conflict resolution and ensures safety by considering the predicted positions of nearby planes.

2. Two-Part Framework:

   • Reachability Analysis Tool: Predicts potential aircraft movements using data from simulated trajectories.

   • Decision Maker: Uses a 6-degree freedom model for fixed-wing aircraft to plan collision-free paths.

3. Safety Enhancements:

   • Incorporates techniques like reward shaping and action shielding to boost safety.

4. Performance Testing:

   • Simulated tests with up to 32 aircraft showed the effectiveness of this framework, measured by reduced Near Mid Air Collisions (NMAC) and computational efficiency.

Contents

Check out the following sections for further infromation about the project, including the implemented Trajectory Planning Scenario, Results from the experiments, and Usage for Installation of the project.

• Safe and Scalable Real-time Trajectory Planner for Urban Air Mobility
  • Overview
  • Contents
• Trajectory Planning Scenario
  • Working Principle
• Results
• Usage
  • Installation
  • Project Structure
  • Implementation Guideline

For the full implementation of this project, please visit our GitHub repository.

Note

This project is under active development.