Real-time obstacle collision avoidance for fixed wing aircraft using B-splines

Hamid Alturbeh, James F. Whidborne

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Citations (Scopus)


A real-time collision avoidance algorithm is developed based on parameterizing an optimal control problem with B-spline curves. The optimal control problem is formulated in output space rather than control or input space, this is feasible because ofthe differential flatness of the system for a fixed wing aircraft. The flat output trajectory is parameterized using a B-spline curve representation. In order to reduce the computational time of the optimal problem, the aircraft and obstacle constraints are augmented in the cost function using a penalty function method. The developed algorithm has been simulated and tested in MATLAB/Simulink.

Original languageEnglish
Title of host publication2014 UKACC International Conference on Control
Subtitle of host publicationCONTROL 2014 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479950119
Publication statusPublished - 2 Oct 2014
Externally publishedYes
EventUKACC International Conference on Control 2014 - Loughborough, United Kingdom
Duration: 9 Jul 201411 Jul 2014
Conference number: 10


ConferenceUKACC International Conference on Control 2014
Abbreviated titleCONTROL 2014
Country/TerritoryUnited Kingdom


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