| CPC G08G 5/80 (2025.01) [G08G 5/30 (2025.01); G08G 5/55 (2025.01); G08G 5/59 (2025.01)] | 20 Claims |
|
1. An apparatus for avoiding a conflict during a flight of an aircraft that includes a defined route of travel, the apparatus comprising:
a memory configured to store computer-readable program code; and
processing circuitry configured to access the memory and execute the computer-readable program code to cause the apparatus to at least:
receive observations of states of the aircraft and an obstacle in an environment of the aircraft as the aircraft travels the defined route;
apply the states to a sequential policy-optimization framework to predict and thereby determine predicted states of the aircraft to avoid a conflict between the aircraft and the obstacle, wherein the sequential policy-optimization framework is caused to:
learn a policy-optimization task by iteratively updating parameters of a trial policy using a stochastic gradient-descent optimization,
determine maneuvers of the aircraft to avoid the conflict, using a policy trained using a surrogate model of the environment in which movements of the aircraft and the obstacle are simulated, wherein initial positions of the aircraft and the obstacle are on an imaginary circle with both the aircraft and the obstacle moving toward a center of the circle, and in which the aircraft goes around the obstacle at a horizontal separation and merges back to a next safe waypoint from an original route, the surrogate model providing a sparse reward feedback for interactions including collision, returning to the original route absent collision, and failing to return to the original route absent collision, and
determine the predicted states of the aircraft from the maneuvers;
generate a collision avoidance trajectory from the predicted states of the aircraft; and
output an indication of the collision avoidance trajectory for use in at least one of guidance, navigation, or control of the aircraft.
|