Computer-implemented method and a system for generating a 3D path to a landing location for an aerial vehicle

A method for generating a 3D path from a source to a destination for an aerial vehicle (AV), the method comprising:

• retrieve a group of altitude layers including an initial altitude layer and a final altitude layer, the initial altitude layer including the source, the final altitude layer including the destination, the altitude layers corresponding to 2-D horizontal planes;
• generating a 2D horizontal scenario based on the group, the 2D horizontal scenario to identify one or more constraints to avoid within a respective vertical range of ones of the group;
• determining whether at least one of the one or more constraints are common constraints for the the group;
• computing a 2D lateral path, the 2D lateral path to avoid the common constraints;
• generating a 2D vertical scenario based on a projection of the 2D lateral path onto the one or more constraints at ones of the group;
• computing a 2D vertical path;
• determining if a conflict-free 3D path can be generated based on the 2D lateral path and the 2D vertical path, wherein, in response to the conflict-free 3D path not being able to be generated, at least one additional altitude layer between the initial altitude layer and the final altitude layer is to be added to the group until the conflict-free 3D path is able to be generated;
• composing, in response to the conflict-free 3D path being able to be generated, 3D waypoints based on the 2D lateral path and the 2D vertical path;
• and
• causing the AV to move along a trajectory based on the 3D waypoints.

A non-transitory computer readable storage medium comprising instructions which, when executed, cause a machine to at least:

• retrieve a group of altitude layers including an initial altitude layer and a final altitude layer, the initial altitude layer including a source for an aerial vehicle, the final altitude layer including a destination for the aerial vehicle, the group corresponding to 2-D horizontal planes;
• select a plurality of altitude layers including at least the initial altitude layer and the final altitude layer;
• generate a 2D horizontal scenario based on the group, the 2D horizontal scenario to identify one or more constraints to avoid within a respective vertical range of ones of the group;
• determine whether one or more constraints are common constraints for the group;
• compute a 2D lateral path, the 2D lateral path to avoid one or more common constraints of the 2D horizontal scenario;
• generate a 2D vertical scenario based on a projection of the 2D lateral path onto the one or more constraints at ones of the group;
• compute a 2D vertical path;
• determine if a conflict-free 3D path can be generated based on the 2D lateral path and the 2D vertical path, wherein, in response to the conflict-free 3D path not being able to be generated, an additional altitude layer between the initial altitude layer and the final altitude layer is to be added to the group until the conflict-free 3D path is able to be generated;
• compose, in response to the conflict-free 3D path being able to be generated, 3D waypoints based on the 2D lateral path and the 2D vertical path;
• and
• cause the aerial vehicle to move along a trajectory based on the 3D waypoints.