Abstract
Airspace geofencing is a key capability for low-altitude Unmanned Aircraft System (UAS) Traffic Management (UTM). Geofenced airspace volumes can be allocated to safely contain compatible UAS flight operations within a fly-zone (keep-in geofence) and ensure the avoidance of no-fly zones (keep-out geofences). This paper presents the application of three-dimensional flight volumization algorithms to support airspace geofence management for UTM. Layered polygon geofence volumes enclose user-input waypoint-based 3-D flight trajectories, and a family of flight trajectory solutions designed to avoid keep-out geofence volumes is proposed using computational geometry. Geofencing and path planning solutions are analyzed in an accurately mapped urban environment. Urban map data processing algorithms are presented. Monte Carlo simulations statistically validate our algorithms, and runtime statistics are tabulated. Benchmark evaluation results in a Manhattan, New York City low-altitude environment compare our geofenced dynamic path planning solutions against a fixed airway corridor design. A case study with UAS route deconfliction is presented, illustrating how the proposed geofencing pipeline supports multi-vehicle deconfliction. This paper contributes to the nascent theory and the practice of dynamic airspace geofencing in support of UTM.
Highlights
Small Unmanned Aircraft System (UAS) operations are expected to proliferate [1,2]for applications such as small package delivery, surveillance, and the visual inspection of assets including wind turbines, construction sites, bridges, and agricultural products.Several challenges must be overcome to enable routine small UAS operations
“Transit-Based Operational Volumes (TBOVs)” were used to wrap the Urban Air Mobility (UAM) flight path, a notion analogous to the trajectory keep-in geofence discussed in this paper
Layered durational geofences wrapping flight trajectories ensure the UAS will fly without conflict in designated or reserved airspace volumes
Summary
Small Unmanned Aircraft System (UAS) operations are expected to proliferate [1,2]. for applications such as small package delivery, surveillance, and the visual inspection of assets including wind turbines, construction sites, bridges, and agricultural products. This algorithm uses parameters such as vehicle speed, geofence boundary safety buffer size, and polygon simplification parameters to generate a flight plan that does not violate keep-in/keep-out geofences in the surrounding region. The specification of formal algorithms to define keep-in/keep-out geofences for obstacles to plan UAS paths with separation assurance; The integration of airspace and environmental geofencing processing pipelines with user inputs to construct geofences and geofence-wrapped path plans in a real-world urban environment; Map data processing to generate keep-out geofences around buildings and terrain and a process to simplify a detailed map dataset to support a more compact representation and improved path planning efficiency;.
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