| This thesis analysis the problem of conflict detection and resolution between two aircraft in a three dimensional environment utilizing current positions and velocity vectors and uses the geometric optimization approach to compute the resolution maneuvers to avoid conflict. The maneuvers computed for the conflict avoidance are optimal as they tend to minimize the change in the magnitude of the velocity vector, resulting in minimum deviation from nominal trajectory. Resolution strategies are based on changes in velocity, heading and elevation angles and all combinations of these and are obtained analytically assuming the aircraft is able to change these parameters. A conflict detection and resolution algorithm is developed that uses numerical optimization techniques to arrive at solutions for different cases and is based on a constant velocity point mass model. A linear model of the aircraft is incorporated to account for the aircraft dynamics. A full state feedback loop integrates the linear model with the algorithm and uses an inner loop stabilization controller and an outer loop guidance controller. Elevators, ailerons and rudders are used as inputs to change the heading and elevation angles of the two aircraft, thereby tracking desired reference commands. The simulation results obtained validates the optimality of the analytical solutions derived using geometric approach. |
