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fbtwitterlinkedinvimeoflicker grey 14rssslideshare1
Alturbeh, Hamid; Whidborne, James F. (2014)
Languages: English
Types: Unknown
Subjects: TL, QA75
A real-time collision avoidance algorithm is developed\ud based on parameterizing an optimal control problem with\ud B-spline curves. The optimal control problem is formulated in\ud output space rather than control or input space, this is feasible\ud because of the differential flatness of the system for a fixed wing\ud aircraft. The flat output trajectory is parameterized using a Bspline\ud curve representation. In order to reduce the computational\ud time of the optimal problem, the aircraft and obstacle constraints\ud are augmented in the cost function using a penalty function\ud method. The developed algorithm has been simulated and tested\ud in MATLAB/Simulink.

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