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Density-Aware 4-D Trajectory Planning for Urban Air Traffic With Different QoS Levels
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DOI：10.1109/tits.2026.3694259.png)
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Abstract
En 中文
In the coming years, unmanned aerial vehicles (UAVs) are expected to find applications in various new mobility concepts. However, current practical trajectory planning solutions for these vehicles in densely populated environments either inadequately address safety concerns, under-utilize available airspace, or rely on overly optimistic assumptions. To address these challenges, we introduce a novel Unmanned Traffic Management System (UTMS), which first partitions the airspace into cubic regions of equal size and employs a reservation mechanism to plan inter-cube paths from source to destination. In this way the proposed UTMS reservation mechanism can accommodate different quality-of-service (QoS) levels and admit UAVs within cubes up to a (tunable) maximum allowed density. Secondly, within each cube, an intra-cube planner robustly determines the trajectory of each UAV, ensuring a guaranteed safety level under realistic system state uncertainty. Extensive simulation results demonstrate that the proposed UTMS effectively manages the trade-off among the tunable UAV density and safety, thereby mitigating the design limitations observed in current state-of-the-art approaches.
Keywords:
Unmanned aerial vehicles
reservation-based planning
location uncertainty
dense flying environment
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