رفع تداخل و عدم برخورد سه بعدی بین چندین پرنده براساس اولویت پروازی با استفاده از نظریه بازی

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجو دکتری مهندسی هوافضا / دانشکده علوم وفنون نوین، دانشگاه تهران

2 عضو هیات علمی / دانشکده علوم وفنون نوین، دانشگاه تهران، تهران

3 عضو هیات علمی / پژوهشگاه فضایی ایران

چکیده

رفع تداخل بین چند هواپیما در ارتفاع پایین با استفاده از نظریه بازی‌های دیفرانسیلی هدف اصلی این تحقیق است. رفع تداخل بین چند هواپیما، بصورت بازی دیفرانسیلی همکارانه با اطلاعات کامل و با استفاده از روش غیر حداقلی مورد بررسی می‌گیرد. در این تحقیق مسئله بصورت یک بازی دیفرانسیلی غیرخطی مقید مطرح و با استفاده از ترکیب وزن دار توابع هدف هواپیماهای متداخل به یک تابع هدف واحد تبدیل می‌گردد. تابع هدف بدست آمده به همراه تمام قیود عملکردی و محیطی با استفاده از روش شبه طیفی به صورت یک برنامه‌ریزی غیرخطی حل خواهدشد. دینامیک سه درجه آزادی جرم ثابت و با در نظر گرفتن قیود عملکردی برای مدلسازی تداخل بین هواپیماها استفاده می‌گردد. همچنین به منظور صحه سنجی، مسئله رفع تداخل در چهار مثال مختلف با استفاده از مشخصات عملکردی یک هواپیمای واقعی و براساس قوانین پرواز در ارتفاع پایین حل خواهدشد. در این مثال‌ها تاثیر ضرایب اولویت بر مسیر پروازی، بررسی موقعیت بهینه برای شروع مانور، تاثیر وجود مانع و محدودیت فضای پروازی در فضای دو بعدی و سه بعدی مورد بررسی قرار خواهدگرفت. نتایج نشان می‌دهد که در رفع تداخل تعیین اولویت پروازی باعث تاثیر بر تلاش کنترلی و مسیر پروازی هر یک از هواپیماهای متداخل می‌گردد. این اولویت پروازی براساس نیاز خطوط هواپیمایی می‌تواند میزان تاخیر پرواز، تعداد مسافر و یا ... باشد.

کلیدواژه‌ها

عنوان مقاله [English]

A 3D conflict resolution and collision avoidance based on flight priority for multi-aircraft with game theory

نویسندگان [English]

  • masoud mirzaei teshnizi 1
  • Amirreza Kosari 2
  • saeed shakhesi 3
1 aerospace engineering, Faculty of New Science and Technology, Tehran university, Tehran, Iran
2 Associate Professor of Department of Aerospace Engineering/ Faculty of New Sciences and Technologies/ University of Tehran
3 Faculty of Iranian Space Research Center, Tehran, Iran
چکیده [English]

The main goal of this research is the conflict resolution and collision avoidance between multi low altitude aircraft using differential game theory. The conflict resolution is investigated as a cooperative differential game using a non-inferior method. In this study, the problem is considered as a constrained nonlinear differential game and is transformed into a single objective function using the weighted combination of aircraft objective functions. The objective function obtained along with all functional and environmental constraints will be solved in nonlinear programming using the pseudo-spectral method. The three degrees of freedom with performance constraints are used to model the problem. Also for the validation, the problem of conflict resolution will be solved in four different examples using the performance characteristics of a real aircraft based on low altitude flight rules. In these examples, the impact of priority coefficients on the flight path, the impact of the presence and constraint of the flight space on two-dimensional and three-dimensional space will be examined. The results show that in order to resolution of conflict base on the flight priority, it affects the control effort and flight path of each of the conflicting aircraft. This flight priority can be based on the need for airlines, flight delay, number of passengers or etc.

کلیدواژه‌ها [English]

  • conflict resolution
  • differential game
  • pseudo-spectral. flight priority. static obstacle

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