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复杂低空空域环境下多飞行器冲突解脱方法可以有效的提供冲突解脱策略,实时规划飞行器四维航迹,避免飞行器之间发生危险接近事故或者碰撞,从而保障空域运行安全。然而,随着飞行器数目的不断增长,冲突解脱面临“维数灾难”,导致问题具有高维度、强耦合等难点。因此,传统的优化方案难以得到令人满意的方案。为了提高冲突解脱效率,保障运行安全,基于满意博弈论方法,考虑低空飞行器运动特点,构建冲突解脱模型,设计冲突解脱方法。飞行器主要采用改变航向角的策略。通过基于条件概率的方法来建立“社会关系”,即当前飞机所做的决策对其它飞机产生的影响。每个飞行器在决策时,都会受到优先级比自己高的决策者的影响。基于满意博弈论的冲突解脱方法不仅可以有效的解决当前飞行器的冲突问题,而且兼顾探测范围内的其它飞行器,避免当前解脱策略导致与其它飞行器冲突,实现整体最优化。最后,通过在极端典型飞行冲突场景中实验验证表明,基于满意博弈论的冲突解脱方法可以实时高效实现大规模飞行器的冲突解脱,保障飞行安全且控制经济成本。
The multi-aircraft conflict resolution method in complex low-altitude airspace environment can effectively provide conflict relief strategies and plan the four-dimensional trajectory of the aircraft in real time to avoid the danger approaching accidents or collisions between aircraft to ensure the safe operation of airspace. However, as the number of aircraft continues to grow, conflict relief faces “dimensionality disaster”, which leads to problems such as high dimension and strong coupling. Therefore, the traditional optimization scheme is difficult to get a satisfactory solution. In order to improve the efficiency of conflict relief and ensure the safety of operation, based on the satisfactory game theory, considering the characteristics of low-altitude vehicle movement, constructing the conflict release model and designing the conflict relief method. The aircraft mainly adopts the strategy of changing the heading angle. Establish “social relations” based on conditional probabilistic approaches, the impact of the current decisions made by the aircraft on other aircraft. Each aircraft in the decision-making, will be higher than their own decision makers. The collision release method based on satisfaction game theory not only can effectively solve the current aircraft conflict problem, but also takes into account other aircraft in the detection range to avoid the current release strategy resulting in conflict with other aircraft to achieve the overall optimization. Finally, experimental verification in an extreme typical flight conflict scenario shows that the collision release method based on satisfactory game theory can effectively and efficiently achieve collision release of large-scale aircraft in real time, ensure flight safety and control economic costs.