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

Alturbeh, Hamid and Whidborne, James F. (2014) Real-time obstacle collision avoidance for fixed wing aircraft using B-splines. In: UKACC International Conference on Control 2014, 9th - 11th July 2014, Loughborough, UK.

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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 of the differential flatness of the system for a fixed wing
aircraft. The flat output trajectory is parameterized using a Bspline
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.

Item Type: Conference or Workshop Item (Paper)
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Schools: School of Computing and Engineering
Related URLs:
Depositing User: Hamid Alturbeh
Date Deposited: 13 Dec 2016 15:36
Last Modified: 07 Jan 2017 16:28
URI: http://eprints.hud.ac.uk/id/eprint/30348

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