This paper presents a motion planner intended for small fixed-wing aircraft that guarantees the existence of a collision-free trajectory, given assumptions on an environment of dynamic obstacles. The planner’s guarantees are obtained using a formally verified branch and bound solver and hold under the presence of obstacle uncertainty. Closed-loop simulations are performed using a six degree-of-freedom aircraft model with a linear parameter-varying controller to demonstrate the collision avoidance capabilities.
Dynamic Obstacle Avoidance with Guarantees for Small Fixed-Wing Aircraft
2024-08-21
1207866 byte
Conference paper
Electronic Resource
English
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