Three-Dimensional Collision Avoidance Control Law for Aircraft Using Risk Function and Fuzzy Logic

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  • Shioiri Hideaki
    Graduate School of Engineering, Yokohama National University
  • Ueno Seiya
    Graduate School of Environment and Information Sciences, Yokohama National University

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Other Title
  • 危険度とファジィを用いた航空機の３次元衝突回避制御則
  • キケンド ト ファジィ オ モチイタ コウクウキ ノ 3ジゲン ショウトツ カイヒ セイギョソク
  • Three Dimensional Collision Avoidance Control Law of Aircraft Using Risk Function and Fuzzy Logic

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This paper proposes a new collision avoidance control law for aircraft. RCPA (Range of Closest Point of Approach), representing risk in the future, and TCPA (Time to CPA), representing current risk, are used as risk functions. Furthermore, fuzzy logic is introduced in order to achieve human maneuvering and to settle singular point and chattering problems that are discussed in previous studies. Avoidance strategy consists of four main phases, maintaining course, avoidance, parallel flight and recovery phase, and three transition phases. The parallel flight phase and three transition phases are introduced to achieve moderate avoidance and smooth phase transition, respectively. Simulation results show that the proposed control law settles the past problems and achieves smooth and adequate avoidance. This paper also discusses the fuzzy evaluation method.

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