Conflict resolution method for hybrid multi-aircraft based on artificial potential field method and ant colony algorithm

Abstract

The invention discloses a hybrid multi-aircraft conflict resolution method based on an artificial potential field method and an ant colony algorithm. The hybrid multi-aircraft conflict resolution method comprises the following steps of: S1, performing charge conversion between an aircraft and a destination, and obtaining an initial path by the artificial potential field method; S2, adjusting the initial path which is obtained by the artificial potential field method, and encoding the adjusted path to obtain foraging paths of authority ants; S3, deriving an authority ant colony from the authority ants, and initializing a pheromone matrix by using the authority ant colony; S4, according the initialized pheromone matrix, carrying out iterative optimization by the ant colony algorithm to obtain a final conflict resolution scheme. The method of the invention avoids pure pursuit of time effectiveness of the artificial potential field method which may cause the problem of angular deflection incapability of resolution schemes. At the same time, the method solves the time effectiveness problem, i.e., the problem that simulation of the biological self-organization process by the ant colony algorithm leads to heavy calculation burden and cannot be applied to conflict resolution scenes in real time, so that requirements from reality scenes on time effectiveness and feasibility are satisfied.

Description

Technical field [0001] The invention relates to a conflict resolution method for multi-aircraft, in particular to a hybrid multi-aircraft conflict resolution method based on artificial potential field method and ant colony algorithm. Background technique [0002] In the traditional air traffic control system, the planning, monitoring, and command of air traffic are all undertaken by the various administrative departments on the ground. However, with the rapid development of China’s aviation industry, the volume of aviation business has increased day by day, and the flow of flight has greatly increased. As the density increases, the contradiction between the low management efficiency of the traditional air traffic control system and management needs is becoming more and more prominent. Therefore, it is necessary to break the traditional inefficient navigation management rules, that is, to adopt the free flight mode, so that the aircraft can freely choose to fly path. To achieve f...

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Problems solved by technology

[0003] Aircraft conflict resolution is an important means to ensure aircraft flight safety. The existing aircraft conflict resolution methods are realized by locally adjusting the flight path, instant speed or flight level. Although the current conflict can be eliminated, the local adjustment may bring New conflicts with other craft

[0004] In order to solve the above problems, a Chinese invention patent with the patent number ZL201210368083.0 proposes a flight conflict relief method and device, including: according to the obtained flight plan information of n aircraft, it is determined that there is a flight conflict, and each flight plan information Including the position of each waypoint, flight speed, and take-off time of each aircraft corresponding to the route; according to the preset maximum take-off delay time, m take-off delay times are randomly generated for each of the n aircraft, and m×n The initial variable population is the parent population; the improved genetic algorithm is used to optimize the parent population for X genetic iterations to generate the Xth child population of the parent population, where X represents the preset number of genetic iterations; In the generation population, determine the chromosome with the highest overall fitness, and obtain the optimal take-off delay time corresponding to each of the n aircraft according to the chromosome with the highest overall fitness; to a certain extent, it solves the problem that the existing aircraft conflict resolution method cannot Problems that provide a global solution

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