S ¼ s 1 ; . . .s m
ð
Þs i ¼ A 0 ; . . .A num
ð
Þ
j
f
g
ð8Þ
The initial state will change under action.s i represents the executable strategy set of
aircraft i. Considering the performance constraints of aircraft, the executable strategy of
aircraft is further restricted. That is, when the velocity inclination angle is too large (too
small), the strategy of upward (downward) maneuver should not be adopted. The
executable strategy S of all aircraft satisfies no aftereffect, that is, the future is only
related to the current state, but not to the past state. The state transition process can be
expressed as follows:
Start
t > T ?
Output
Connect(t)
Action(t)
Record the number of
conflict blocks in
Obstacle(t) as
Result(t)
Result(t)=?
Connect(t)=[]
action=[]
Connect(t)=[FO,]
action=[FO]
Grouping obstacles
in pairs
Grid coordinate XYZ
difference is greater
than 2?
Not caused by
each other
Connect(t)+=[FO,FO]
Connect(t) adds the
remaining [FO] in Obstacle
Traverse all Connect(t)
every two choices to
form an action
t=t+ t
N
Y
0
>1
1
Y
N
Fig. 6. Flight conflict matching and action output
474
Y. Yi et al.