Abstract
This paper proposes a decentralized model predictive control (MPC) algorithm for planning three-dimensional conflict-free trajectories for multiple aircraft. In the developed algorithm, each aircraft’s computer synchronously solves mixed-integer quadratically constrained quadratic programming (MIQCQP) problems. To guarantee the recursive feasibility and enable the synchronous calculations of three-dimensional trajectories, we introduce infinite-horizon compatibility constraints for the separation of aircraft . Moreover, heterogeneous limits on the flight performances of point-mass aircraft are tightly formulated as mixed-integer linear constraints (MILCs) as well as convex quadratic constraints. Through numerical simulations, the effectiveness of the algorithm is confirmed in terms of the scalability and the validity of the trajectories.
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