A fixed-wing aircraft can be in the final phase of a potential collision with a noncooperative dynamic obstacle (e.g., a drone) because of the limited sensing range. In the final phase of a potential collision, the performance of the existing obstacle avoidance approaches that do not take into account the bounded and nonisotropic maneuver capability and dynamic and aerodynamic characteristics of a fixed-wing aircraft is limited. To enhance the performance of fixed-wing aircraft in the final phase of a potential collision, this study develops a hierarchical reinforcement learning (RL)-based obstacle avoidance strategy. The RL-based obstacle avoidance strategy learns a high-level RL-based navigator that provides a velocity vector to avoid an obstacle and maintain the altitude, course, and airspeed of an aircraft as possible. The high-level RL-based navigator is combined with a low-level controller to guide and control the aircraft to avoid obstacles. To evaluate the RL-based obstacle avoidance strategy, the strategy is compared with a 3-D velocity obstacle (3DVO)-based obstacle avoidance strategy based on addressing dynamic obstacle avoidance problems of fixed-wing aircraft in a flight simulator. Experimental results show that for an aircraft with a sensing range of 1000 m, the RL-based obstacle avoidance strategy can achieve a success ratio of 92% in obstacle avoidance, whereas the 3DVO-based obstacle avoidance strategy can only achieve a success ratio of 60%.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Dynamic Obstacle Avoidance of Fixed-Wing Aircraft in Final Phase via Reinforcement Learning


    Beteiligte:
    Ou, Yiming (Autor:in) / Xiong, Hao (Autor:in) / Jiang, Hantao (Autor:in) / Zhang, Yixin (Autor:in) / Noack, Bernd R. (Autor:in)


    Erscheinungsdatum :

    01.08.2024


    Format / Umfang :

    3629838 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Dynamic Obstacle Avoidance with Guarantees for Small Fixed-Wing Aircraft

    Marquis, Dennis J. / Farhood, Mazen | IEEE | 2024


    High-Speed Obstacle-Avoidance with Agile Fixed-Wing Aircraft

    Bulka, Eitan / Nahon, Meyer | IEEE | 2019


    End-to-End Learning-Based Obstacle Avoidance for Fixed-Wing UAVs

    Wang, Teng / Xu, Zhao / Hu, Jinwen et al. | Springer Verlag | 2023


    A Fast Obstacle Collision Avoidance Algorithm for Fixed Wing UAS

    Lin, Zijie / Castano, Lina / Xu, Huan | IEEE | 2018


    Research on Scenario Modeling for V-Tail Fixed-Wing UAV Dynamic Obstacle Avoidance

    Peihao Huang / Yong Tang / Bingsan Yang et al. | DOAJ | 2023

    Freier Zugriff