A New Algorithm for Automated Aircraft Conflict Resolution
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1 A New Algorithm for Automated Aircraft Conflict Resolution Nour Dougui, Daniel Delahaye, and Stephane Puechmorel ENAC July 3, 2009 our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
2 Introduction Air Traffic Management Requirements Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
3 Introduction Air Traffic Management Requirements Aircraft Separation, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
4 Introduction Air Traffic Management Requirements Aircraft Separation, Staying close to the Business Trajectory. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
5 Introduction Air Traffic Management Requirements Aircraft Separation, Staying close to the Business Trajectory. NextGen and SESAR Context Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
6 Introduction Air Traffic Management Requirements Aircraft Separation, Staying close to the Business Trajectory. NextGen and SESAR Context More automation Delegation of some spacing and separation tasks to aircraft, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
7 Introduction Air Traffic Management Requirements Aircraft Separation, Staying close to the Business Trajectory. NextGen and SESAR Context More automation Delegation of some spacing and separation tasks to aircraft, There is need for automated conflict resolution, several methods exist among which Navigation Functions and Genetic Algorithm, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
8 Introduction Air Traffic Management Requirements Aircraft Separation, Staying close to the Business Trajectory. NextGen and SESAR Context More automation Delegation of some spacing and separation tasks to aircraft, There is need for automated conflict resolution, several methods exist among which Navigation Functions and Genetic Algorithm, The most important parameter to deal with is TIME. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
9 Automatic Resolution: Navigation Functions How does it work? Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
10 Automatic Resolution: Navigation Functions How does it work? The Navigation Function produces a potential field which drives the aircraft toward the destination and away from obstacles, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
11 Automatic Resolution: Navigation Functions How does it work? The Navigation Function produces a potential field which drives the aircraft toward the destination and away from obstacles, Dipolar Navigation Function makes the resulting lines of potential field tangent to the desired orientation at the goal. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
12 Automatic Resolution: Navigation Functions Benefits our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
13 Automatic Resolution: Navigation Functions Benefits Absence of local minima, our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
14 Automatic Resolution: Navigation Functions Benefits Absence of local minima, Provable convergence to a desired configuration, our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
15 Automatic Resolution: Navigation Functions Benefits Absence of local minima, Provable convergence to a desired configuration, Guaranteed collision avoidance. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
16 Automatic Resolution: Navigation Functions Benefits Absence of local minima, Provable convergence to a desired configuration, Guaranteed collision avoidance. Drawbacks It does not take into account constraints present in ATC such as: Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
17 Automatic Resolution: Navigation Functions Benefits Absence of local minima, Provable convergence to a desired configuration, Guaranteed collision avoidance. Drawbacks It does not take into account constraints present in ATC such as: Bounded velocity, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
18 Automatic Resolution: Navigation Functions Benefits Absence of local minima, Provable convergence to a desired configuration, Guaranteed collision avoidance. Drawbacks It does not take into account constraints present in ATC such as: Bounded velocity, Smoothness requirement for the path, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
19 Automatic Resolution: Navigation Functions Benefits Absence of local minima, Provable convergence to a desired configuration, Guaranteed collision avoidance. Drawbacks It does not take into account constraints present in ATC such as: Bounded velocity, Smoothness requirement for the path, Time constraints. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
20 Automatic Resolution: Genetic Algorithm How does it work? Most of the optimal trajectories can be approximated by piecewise straight paths, two types of simple maneuver are used: our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
21 Automatic Resolution: Genetic Algorithm How does it work? Most of the optimal trajectories can be approximated by piecewise straight paths, two types of simple maneuver are used: The Turning point model: our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
22 Automatic Resolution: Genetic Algorithm How does it work? Most of the optimal trajectories can be approximated by piecewise straight paths, two types of simple maneuver are used: The Turning point model: The Offset model: our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
23 Automatic Resolution: Genetic Algorithm Benefits our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
24 Automatic Resolution: Genetic Algorithm Benefits Generates path with feasible operational maneuvers, our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
25 Automatic Resolution: Genetic Algorithm Benefits Generates path with feasible operational maneuvers, The magnitude of the speed is within a bounded range. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
26 Automatic Resolution: Genetic Algorithm Benefits Generates path with feasible operational maneuvers, The magnitude of the speed is within a bounded range. Drawbacks No proof of global convergence: Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
27 Automatic Resolution: Genetic Algorithm Benefits Generates path with feasible operational maneuvers, The magnitude of the speed is within a bounded range. Drawbacks No proof of global convergence: A very good solution may eliminate worst solutions Prematurely convergence. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
28 Our method We aim to find a method which combines the advantages of both previous methods: our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
29 Our method We aim to find a method which combines the advantages of both previous methods: A proof of global optimality, our Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
30 Our method We aim to find a method which combines the advantages of both previous methods: A proof of global optimality, Generating operationnal trajectories. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
31 The light propagation method Time is the criterion we want to optimize The trajectories we want to obtain are optimal in time, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
32 The light propagation method Time is the criterion we want to optimize The trajectories we want to obtain are optimal in time, The congestion or the complexity increases the time The trajectories should avoid congested areas, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
33 The light propagation method Time is the criterion we want to optimize The trajectories we want to obtain are optimal in time, The congestion or the complexity increases the time The trajectories should avoid congested areas, The light propagation analogy: the light follows Geodesic in time and avoid passing through areas of high index. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
34 The light propagation method Time is the criterion we want to optimize The trajectories we want to obtain are optimal in time, The congestion or the complexity increases the time The trajectories should avoid congested areas, The light propagation analogy: the light follows Geodesic in time and avoid passing through areas of high index. Principles of the light propagation method The light beams are launched from the starting point in the half sphere towards the point of arrival. The congested areas are represented by areas of high index. The first beam that reaches the point of arrival represent the optimal trajectory. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
35 The light propagation algorithm Find the potential fields algorithm solution: the trajectory T UpperBound = time travel of T Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
36 The light propagation algorithm Sample T to build a tree, with half spheres with a radius dt, a curvilinear step ds and an angle dθ Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
37 The light propagation algorithm Sample T to build a tree, with half spheres with a radius dt, a curvilinear step ds and an angle dθ Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
38 The light propagation algorithm Sample T to build a tree, with half spheres with a radius dt, a curvilinear step ds and an angle dθ Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
39 The light propagation algorithm Sample T to build a tree, with half spheres with a radius dt, a curvilinear step ds and an angle dθ Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
40 The light propagation algorithm While there is still unexplored nodes in the tree do Choose a node N from the tree. Update the environment index. Relaunch rays from node N: For any light ray if the light beam initially in a media index n1, encounter an environment index n2 with a corner radius i1, it continues with a new angle i2 such that n1 sin i1 = n2 sin i2. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
41 Experimental results A simplified version of the algorithm is implemented in 2D with static areas of congestion. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
42 Conclusion Current work work in progress (completing the implementation of the algorithm) but promising. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
43 Conclusion Current work work in progress (completing the implementation of the algorithm) but promising. Future work Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
44 Conclusion Current work work in progress (completing the implementation of the algorithm) but promising. Future work Find the value of index such that the corresponding area will act like a barrier use this index value to model other airplanes, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
45 Conclusion Current work work in progress (completing the implementation of the algorithm) but promising. Future work Find the value of index such that the corresponding area will act like a barrier use this index value to model other airplanes, Allow dynamic congested area, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
46 Conclusion Current work work in progress (completing the implementation of the algorithm) but promising. Future work Find the value of index such that the corresponding area will act like a barrier use this index value to model other airplanes, Allow dynamic congested area, Convergence proof of the algorithm, Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
47 Conclusion Current work work in progress (completing the implementation of the algorithm) but promising. Future work Find the value of index such that the corresponding area will act like a barrier use this index value to model other airplanes, Allow dynamic congested area, Convergence proof of the algorithm, Quantitative and qualitative comparison with other method. Nour Dougui, Daniel Delahaye, and Stephane Puechmorel A New Algorithm (ENAC) for Automated Aircraft Conflict Resolution July 3, / 11
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