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.


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    Title :

    Dynamic Obstacle Avoidance with Guarantees for Small Fixed-Wing Aircraft


    Contributors:


    Publication date :

    2024-08-21


    Size :

    1207866 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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