Abstract
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 language | English |
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Title of host publication | 2014 UKACC International Conference on Control |
Subtitle of host publication | CONTROL 2014 - Proceedings |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 115-120 |
Number of pages | 6 |
ISBN (Electronic) | 9781479950119 |
DOIs | |
Publication status | Published - 2 Oct 2014 |
Externally published | Yes |
Event | UKACC International Conference on Control 2014 - Loughborough, United Kingdom Duration: 9 Jul 2014 → 11 Jul 2014 Conference number: 10 |
Conference
Conference | UKACC International Conference on Control 2014 |
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Abbreviated title | CONTROL 2014 |
Country/Territory | United Kingdom |
City | Loughborough |
Period | 9/07/14 → 11/07/14 |