Abstract
In modern avionics, collision avoidance has become a standard requirement for all civil aircraft. To helicopters, separation might be more difficult than that of fixed wing aircraft due to their flexible performance. This paper presents a real time collision avoidance algorithm for helicopters under available surveillance to detect the conflict situation and generate effective resolution for separation. The optimal control theory is formulated to minimize the energy and distance requirements for conflict resolution. Real time approaches based on differential geometry are therefore issued and organized. Highlights of feasibility as well as reliability of real time model outcomes are emphasized in this paper.
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