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Successful avoidance of a mid air collision with moving obstacles depends on solutions of some most essential problems, e.g.: quick detection of an obstacle, verification whether detected obstacle is a critical one and making right decision on evasive manoeuvre. This decision – making process requires an appropriate identification of a threat’s nature, including whether detected obstacles should be treated as one aggregated group. Aggregation of obstacles moving in short distance one to the other is a typical case. The paper addresses also the case of inclusion the obstacle to the group objects moving in longer distances one to the other. The algorithm used for deciding whether a moving obstacle should be added to (aggregated with) a given group has been presented. A method for computing its characteristic parameters has been presented too. Selected scenarios of avoiding the aggregated group of moving obstacles have been simulated and results obtained illustrates problems considered.

The Avoiding Manoeuvre Against Aggregated Group of Obstacles Moving Around the Airplane