| Article ID: | iaor20163596 |
| Volume: | 77 |
| Issue: | 10 |
| Start Page Number: | 1827 |
| End Page Number: | 1837 |
| Publication Date: | Oct 2016 |
| Journal: | Automation and Remote Control |
| Authors: | Bazhenov S, Lebedev V, Kulida E, Egorov N |
| Keywords: | control |
This paper proposes an algorithm generating a set of conflict‐free safe trajectories in terrain conditions from an arbitrary initial position to a given synchronization point with a reference aircraft in front. We also design a speed calculation algorithm along the generated flight trajectories that ensures a required longitudinal separation margin at the synchronization point.