A collision avoidance algorithm for Helicopter Flight Director and Surveillance System

In developing the Flight Director and Surveillance System (FDS) [1] for helicopters, a Helicopter Collision Avoidance System (H-CAS) is proposed a software support to assist helicopter pilots to avoid approach or collision in flight. An automatic traffic advisory and conflict resolution algorithm is formulated following its intrude detection. This paper presents the concept of collision avoidance for helicopters in low altitude. The algorithm considers the point mass nonlinear dynamics of helicopter as a three-point interior boundary problem, and solves this optimal control problem using Bang-Bang switching technique. As for H-CAS, the conflict resolution is generated to separate different priority helicopters. Theoretical analysis for the H-CAS is formulated, and simulations on conflicts and resolutions are demonstrated with feasible results.