Certified Learning-Enabled Noise-Aware Motion Planning for Urban Air Mobility

摘要

Urban Air Mobility (UAM) has emerged as a promising solution to alleviate urban congestion and transportation challenges. Nevertheless, the noise generated by eVTOL aircrafts poses a significant barrier to public acceptance and regulatory approval, potentially limiting the operational scope and scalability of UAM systems. Hence, the successful adoption of UAM systems hinges on the ability to predict generated noise levels, and further develop motion planning strategies that comply with community-level noise regulations while maintaining operational efficiency. To this end, this paper proposes a novel noise-aware motion planning framework for UAM systems that ensures compliance with noise regulations. We first develop a certifiable neural network model to accurately predict eVTOL noise propagation patterns in urban environments, providing provable bounds on its correctness. To achieve a desired level of accuracy, we propose an active sampling strategy to efficiently build the dataset used to train and test the noise model. Next, we develop a noise-aware motion planning algorithm that utilizes the noise model to generate eVTOL trajectories that guarantee compliance with community noise regulations. The algorithm exploits the monotonic structure of the noise model to efficiently sample the configuration space, ensuring that the generated trajectories are both noise-compliant and operationally efficient. We demonstrate the effectiveness of the proposed framework through a number of experiments for Vahana eVTOLs. The results show that the framework can generate noise-compliant flight plans for a fleet of eVTOLs that adhere to community noise regulations while optimizing operational efficiency.