Velocity obstacle–based conflict resolution and recovery method

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Abstract
Considering the shortcomings of current methods for real-time resolution of two-aircraft flight conflicts, a geometric optimal conflict resolution and recovery method based on the velocity obstacle method for two aircraft and a cooperative conflict resolution method for multiple aircraft are proposed. The conflict type was determined according to the relative position and velocity of the aircraft, and a corresponding conflict mitigation strategy was selected. A resolution manoeuvre and a recovery manoeuvre were performed. On the basis of a two-aircraft conflict resolution model, a multi-aircraft cooperative conflict resolution game was constructed to identify an optimal solution for maximising group welfare. The solution and recovery method is simple and effective, and no new flight conflicts are introduced during track recovery. For multi-aircraft conflict resolution, an equilibrium point that maximises the welfare function of the group was identified, and thus, an optimal strategy for multi-aircraft conflict resolution was obtained.

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