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.

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.

Real-time Obstacle Collision Avoidance for Fixed Wing Aircraft Using B-splines.pdf - Accepted Version

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