VTOL Trajectory Coordination Around Vertiports with Collision Avoidance

View Video Presentation: https://doi.org/10.2514/6.2023-0297.vid In the vicinity of vertiports a high volume of traffic can be expected from both cooperative vehicles that are approaching or departing but also from uncooperative intruders due to the vertiport's location in the low-level airspace. Therefore, coordination of the trajectories of all relevant vehicles is of utmost importance in order to resolve conflicts and avoid collisions. This work presents an algorithm that builds upon pre-planned trajectories for each individual vehicle, identifies potential conflicts, and if required resolves the conflicts through modification of the trajectories while utilizing the degrees of freedom appropriate for the individual vehicles. It can be shown that the presented algorithm is able to reach a coordination of conflicting trajectories with sufficiently good performance.