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Urban air mobility (UAM) has attracted the attention of aircraftmanufacturers, air navigation service providers and governments in recentyears. Preventing the conflict among urban aircraft is crucial to UAM trafficsafety, which is a key in enabling large scale UAM operation. Pre-flightconflict-free path planning can provide a strategic layer in the maintenance ofsafety performance, thus becomes an important element in UAM. This paper aimsat tackling conflict-free path planning problem for UAM operation with aconsideration of four-dimensional airspace management. In the first place, weintroduced and extended a four-dimensional airspace management concept,AirMatrix. On the basis of AirMatrix, we formulated the shortest flight timepath planning problem considering resolution of conflicts with both static anddynamic obstacles. A Conflict-Free A-Star algorithm was developed for planningfour-dimensional paths based on first-come-first-served scheme. The algorithmcontains a novel design of heuristic function as well as a conflict detectionand resolution strategy. Numerical experiment was carried out in Jurong Eastarea in Singapore, and the results show that the algorithm can generate pathsresolving a significant number of potential conflicts in airspace utilization,with acceptable computational time and flight delay. The contributions of thisstudy provide references for stakeholders to support the development of UAM.

Conflict-Free Four-Dimensional Path Planning for Urban Air Mobility Considering Airspace Occupations