基于满意博弈论的复杂低空飞行冲突解脱方法

复杂低空空域环境下多飞行器冲突解脱方法可以有效地提供冲突解脱策略,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他飞机产生的影响。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地解决当前飞行器的冲突问题,而且兼顾探测范围内的其他飞行器,避免当前解脱策略导致与其他飞行器冲突,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。

Aircraft conflict resolution method based on satisfying game theory

Multi-aircraft conflict resolution in complex low altitude airspace can effectively provide resolution strategy and 4 dimensional trajectory for the aircraft in real time to avoid conflict,collision and ensure airspace operation safety.However, as the number of aircraft increases,conflict resolution faces the curse of dimensionality to cause difficulties,such as high di-mensionality and tight coupling,and is difficult to be solved by traditional methods.To improve the optimization efficiency and keep operation safety,a conflict resolution mathematical model and a new method based on the satisfying game theory are proposed with consideration of the characteristics of the aircraft in low altitude airspace.The "social relationship"is es-tablished based on conditional probability,that is,the decision of each aircraft will cause influence to other aircraft.Each aircraft will consider the aircraft with higher priority when it makes decision.The method based on the satisfying game theo-ry,can not only solve the current conflict,but also consider to avoid the new conflict among aircraft in the detection range under the resolution strategy.Hence,the overall benefit maximization can be realized.Finally,the simulation results using the extreme scenario demonstrate that the proposed approach can solve the conflict of large-scale aircraft,keep operation safety and control the cost.