公开(公告)号：US20220004205A1

公开(公告)日：2022-01-06

申请号：US16918596

申请日：2020-07-01

Applicant: Bell Textron Inc.

Inventor： Michael McNair ,  Juan Li ,  Kip Gregory Campbell

IPC: G05D1/10 ,  G08G5/00 ,  G08G5/04 ,  G05D1/00 ,  G01S19/39

Abstract: A method of autonomous flight path planning for a group of cooperating aircraft operating in formation includes: receiving information related to obstructions that interfere with an aircraft of the group continuing on a flight path; calculating a velocity obstacle for each obstruction; calculating a plurality of candidate velocities outside of the velocity obstacles; selecting a first velocity from the candidate velocities and operating a leader of the group at the first velocity; calculating, based upon keeping a follower aircraft in formation, a second velocity for the follower; determining whether the second velocity is inside one of the velocity obstacles; operating the follower at the second velocity when the second velocity is outside the velocity obstacles; and calculating a revised velocity that is outside of the velocity obstacles and operating the follower at the revised velocity when the second velocity is inside one of the velocity obstacles.

公开(公告)号：US11454991B2

公开(公告)日：2022-09-27

申请号：US16918596

申请日：2020-07-01

Applicant: Bell Textron Inc.

Inventor： Michael McNair ,  Juan Li ,  Kip Gregory Campbell

IPC: G05D1/10 ,  G08G5/00 ,  G01S19/39 ,  G08G5/04 ,  G05D1/00

Abstract: A method of autonomous flight path planning for a group of cooperating aircraft operating in formation includes: receiving information related to obstructions that interfere with an aircraft of the group continuing on a flight path; calculating a velocity obstacle for each obstruction; calculating a plurality of candidate velocities outside of the velocity obstacles; selecting a first velocity from the candidate velocities and operating a leader of the group at the first velocity; calculating, based upon keeping a follower aircraft in formation, a second velocity for the follower; determining whether the second velocity is inside one of the velocity obstacles; operating the follower at the second velocity when the second velocity is outside the velocity obstacles; and calculating a revised velocity that is outside of the velocity obstacles and operating the follower at the revised velocity when the second velocity is inside one of the velocity obstacles.