Unmanned Aircraft Systems Conflict Resolution Using Return-to-Course Maneuver

Abstract

This Paper considers the problem of conflict resolution involving two constant-speed aircraft moving in a horizontal plane. A planar deconflicting maneuver that resolves the conflict with the desired safety threshold and takes the aircraft back to its original course is proposed. Considering the maximum bank angle and maximum banking rate of the aircraft, a second-order dynamical relationship between the aircraft bank angle and aileron deflection is used to design the maneuver. The maneuver consists of straight-line segments and coordinated turns. Maneuver parameters are computed by translating the problem in a frame of reference relative to the intruder aircraft and resolving the conflict therein. An analytical guarantee is presented for the existence of a solution for all possible conflicts in this scenario. The solution is expressed in terms of aileron deflection commands required to execute the maneuver. Simulations are carried out for various conflict scenarios, showing the efficacy of the proposed maneuver.