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公开(公告)号：US20220004205A1
公开(公告)日：2022-01-06
申请号：US16918596
申请日：2020-07-01
Applicant: Bell Textron Inc.
Inventor： Michael McNair , Juan Li , Kip Gregory Campbell
Abstract: A method of autonomous flight path planning for a group of cooperating aircraft operating in formation includes: receiving information related to obstructions that interfere with an aircraft of the group continuing on a flight path; calculating a velocity obstacle for each obstruction; calculating a plurality of candidate velocities outside of the velocity obstacles; selecting a first velocity from the candidate velocities and operating a leader of the group at the first velocity; calculating, based upon keeping a follower aircraft in formation, a second velocity for the follower; determining whether the second velocity is inside one of the velocity obstacles; operating the follower at the second velocity when the second velocity is outside the velocity obstacles; and calculating a revised velocity that is outside of the velocity obstacles and operating the follower at the revised velocity when the second velocity is inside one of the velocity obstacles.
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公开(公告)号：US11454991B2
公开(公告)日：2022-09-27
申请号：US16918596
申请日：2020-07-01
Applicant: Bell Textron Inc.
Inventor： Michael McNair , Juan Li , Kip Gregory Campbell
Abstract: A method of autonomous flight path planning for a group of cooperating aircraft operating in formation includes: receiving information related to obstructions that interfere with an aircraft of the group continuing on a flight path; calculating a velocity obstacle for each obstruction; calculating a plurality of candidate velocities outside of the velocity obstacles; selecting a first velocity from the candidate velocities and operating a leader of the group at the first velocity; calculating, based upon keeping a follower aircraft in formation, a second velocity for the follower; determining whether the second velocity is inside one of the velocity obstacles; operating the follower at the second velocity when the second velocity is outside the velocity obstacles; and calculating a revised velocity that is outside of the velocity obstacles and operating the follower at the revised velocity when the second velocity is inside one of the velocity obstacles.
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公开(公告)号：US11887493B2
公开(公告)日：2024-01-30
申请号：US16545938
申请日：2019-08-20
Applicant: Bell Textron Inc.
Inventor： Kip Gregory Campbell , Juan Li
CPC classification number: G08G5/04 , B64C39/024 , B64D31/00 , G05D1/1064 , G08G5/0004 , G08G5/0069 , B64U2201/102
Abstract: According to one implementation of the present disclosure, a method for formation flight is disclosed. The method includes: during flight, arranging for a first aircraft to fly into a proximity range of a second aircraft; and determining first aircraft positioning based on power consumption data of the first aircraft, where the first aircraft positioning corresponds to power-reducing formation flight of the first aircraft.
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公开(公告)号：US20210056857A1
公开(公告)日：2021-02-25
申请号：US16545938
申请日：2019-08-20
Applicant: Bell Textron Inc.
Inventor： Kip Gregory Campbell , Juan Li
Abstract: According to one implementation of the present disclosure, a method for formation flight is disclosed. The method includes: during flight, arranging for a first aircraft to fly into a proximity range of a second aircraft; and determining first aircraft positioning based on power consumption data of the first aircraft, where the first aircraft positioning corresponds to power-reducing formation flight of the first aircraft.
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