基于风险意识的eVTOL自主避让

doi:10.7527/S1000-6893.2025.32083

Abstract

Abstract:

In the context of urban air traffic， there is currently no mature solution for real-time avoidance of electric Vertical Take-Off and Landing （eVTOL） aircraft in dynamic and uncertain environments. To address this challenge， we propose a risk-aware and efficient motion planning method for real-time eVTOL avoidance. The problem is formulated as a Model Predictive Control （MPC） framework with Chance Constraints MPC （CC-MPC）， incorporating both collision avoidance and geo-fencing constraints. To efficiently handle the chance constraints， we reformulate them using Big-M and confidence ellipsoids， transforming the CC-MPC problem into a Mixed-Integer Programming （MIP） problem. To efficiently solve the MIP， we employ an iterative convexification-based optimization method， complemented by a global search algorithm that serves as a front-end warm-start mechanism. Finally， all components are integrated within a receding horizon control framework to enable fast and dynamic trajectory generation for eVTOLs. Simulation experiments across various flight scenarios demonstrate the effectiveness of the proposed approach.

Key words: urban air traffic, eVTOL, collision avoidance, chance constraints, motion planning

CLC Number:

V279

Kang ZHANG, Xinmin TANG, Junwei GU. Risk-aware autonomous avoidance for eVTOL[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(2): 332083.

Figures/Tables 12

Fig.1

Fig.2

Fig.3

Fig.4

Table 1

Number of collisions and cost under different thresholds

安全阈值 $ε$	碰撞次数	平均代价
0.001	1	83.738 9
0.01	6	62.623 8
0.1	33	57.688 9

Table 1

Fig.5

Fig.6

Fig.7

Table 2

Table 3

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Fig.9

References 27

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地图序号	起始点	目标点
Map 1	［10 10 200］	［130 100 300］
Map 2	［10 10 200］	［180 140 300］
Map 3	［10 10 10］	［130 100 20］
Map 4	［10 10 10］	［180 140 20］

性能指标	Map 1		Map 2		Map 3		Map 4
性能指标	MPC	CC-MPC	MPC	CC-MPC	MPC	CC-MPC	MPC	CC-MPC
Av.CT	0.022	0.036	0.044	0.059	0.031	0.071	0.086	0.131
CC	24.657	30.361	37.709	59.617	19.660	25.582	44.635	53.478
FR	0.313	0.022	0.535	0.041	0.516	0.032	0.704	0.025

Risk-aware autonomous avoidance for eVTOL

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