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

抄録

This paper proposes a new collision avoidance control law of aircraft. RCPA (Range of Closest Point of Approach) representing risk in the future and TCPA (CPA time to go) representing current risk are used as risk functions. Also fuzzy logic is introduced to achieve the human maneuvering and to settle singular point and chattering problems that are shown in previous studies. Avoidance strategy consists of four main phases; course keeping, avoidance, parallel flight, and recovery phase; and three intermediate phases. Parallel flight phase and three intermediate 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 the smooth and adequate avoidance. This paper also discusses on the fuzzy evaluation method.