为固定翼无人机设计安全回流引导算法，解决拥堵时的自动重新进入问题。
Loiter UAV Reinsertion Guidance for Fixed-wing UAV Corridors
- 通过虚拟槽位管理拥堵区，用速度控制实现安全回流
- 在有限槽位和安全距离下确保无冲突回流
- 适合需要高可靠性的无人机空中走廊场景
本文研究由主航路、用于缓解交通拥堵的圆形等待航路以及连接两者的过渡航路组成的固定翼无人机航路系统。重点解决从等待航路安全无冲突地重新插入主航路的问题。等待航路设有固定数量的等距虚拟槽位，无人机可占据其中一格。当主航路交通减少或等待无人机需紧急抵达目的地时，将其重新插入主航路成为必要。基于总槽位数、无人机速度限制及最小安全距离，提出一种引导算法，用于计算过渡航路上无人机所需的速度，以确保安全回流。所提引导与自动化策略通过数值仿真验证。
原文摘要 · Abstract (English)
This paper considers fixed-wing unmanned aerial vehicle (UAV) corridors comprising a main lane, a circular loiter lane for managing traffic congestion, and transit lanes connecting the two. In particular, we address the problem of conflict-free reinsertion of UAVs from the loiter lane back into the main lane. The loiter lane contains a fixed number of equidistant virtual slots that UAVs can occupy. Reinsertion of loiter UAVs into the main lane becomes essential either due to reduced traffic in the main lane or due to a loiter UAV needing to reach its destination urgently. Given the total number of loiter slots, UAV speed limits, and the minimum safety distance, a guidance algorithm is developed to compute the required speed of a loiter UAV in the transit lane to ensure safe reinsertion. The proposed guidance and automation strategies are validated through numerical simulations.
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