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

Hamid Alturbeh; James F. Whidborne

doi:10.1109/CONTROL.2014.6915125

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

Hamid Alturbeh, James F. Whidborne

Cranfield University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Citations (Scopus)

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
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	https://doi.org/10.1109/CONTROL.2014.6915125
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
Abbreviated title	CONTROL 2014
Country/Territory	United Kingdom
City	Loughborough
Period	9/07/14 → 11/07/14

Access to Document

10.1109/CONTROL.2014.6915125Licence: Other

http://eprints.hud.ac.uk/id/eprint/30348/Licence: Unspecified

Cite this

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title = "Real-time obstacle collision avoidance for fixed wing aircraft using B-splines",

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.",

keywords = "Aerospace trajectories, Aircraft control, Autonomous vehicles, Obstacle avoidance, Receding horizon, Splines",

author = "Hamid Alturbeh and Whidborne, \{James F.\}",

year = "2014",

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day = "2",

doi = "10.1109/CONTROL.2014.6915125",

language = "English",

pages = "115--120",

booktitle = "2014 UKACC International Conference on Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "UKACC International Conference on Control 2014, CONTROL 2014 ; Conference date: 09-07-2014 Through 11-07-2014",

}

Alturbeh, H & Whidborne, JF 2014, Real-time obstacle collision avoidance for fixed wing aircraft using B-splines. in 2014 UKACC International Conference on Control: CONTROL 2014 - Proceedings., 6915125, Institute of Electrical and Electronics Engineers Inc., pp. 115-120, UKACC International Conference on Control 2014, Loughborough, United Kingdom, 9/07/14. https://doi.org/10.1109/CONTROL.2014.6915125

Real-time obstacle collision avoidance for fixed wing aircraft using B-splines. / Alturbeh, Hamid; Whidborne, James F.
2014 UKACC International Conference on Control: CONTROL 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. p. 115-120 6915125.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Whidborne, James F.

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PY - 2014/10/2

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N2 - 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.

AB - 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.

KW - Aerospace trajectories

KW - Aircraft control

KW - Autonomous vehicles

KW - Obstacle avoidance

KW - Receding horizon

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T2 - UKACC International Conference on Control 2014

Y2 - 9 July 2014 through 11 July 2014

ER -

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

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