An investigation into multi-aircraft conflict resolution by the modified voltage potential algorithm and the potential effects of weighting the pair-wise avoidance vectors

Abstract

Increased air traffic activity has caused strain on current air traffic management systems. Through decentralization of air traffic control, this strain can be released and airspace capacity, safety and flight efficiency can be increased. The Modified Voltage Potential is a decentralized conflict detection and resolution method based on a force field analogy. Once a conflict has been detected, repelling velocity vectors are determined on board of the involved aircraft to find a conflict-free trajectory. The Modified Voltage Potential has proven to be effective and efficient in various studies, although unintentional behavior is shown when an aircraft has a conflicting trajectory with multiple aircraft at the same time. In these multi-aircraft conflicts, the suggested solution is found by summing the pair-wise resolution vectors. When a left hand-sided maneuver is suggested to solve one conflict, but a right hand-side maneuver is suggested to solve a second conflict, the summed solution does not result in a conflict-free trajectory. On the other hand, when both conflicts are solved by an equal left hand sided maneuver, the sum will suggest a maneuver twice the required size. Unintentional behavior is currently mitigated by recursive conflict resolution. This paper investigates if further improvements can be made by weighting the pair-wise resolution vectors. The effects of weights on conflict resolution mechanics are investigated through a series of multi-aircraft conflict situations. By means of free flight simulation, it is shown that weights can improve airspace stability, flight efficiency, and stability in a high-density free-flight environment.