衝突円錐制御バリア関数を用いた固定翼UAVのリアルタイム安全航行
Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
衝突円錐に基づく制御バリア関数を固定翼UAVに適用し、二次計画法によるリアルタイムな障害物回避を実現した研究。
著者: Aryan Agarwal, Ravi Agrawal, Manan Tayal, Pushpak Jagtap, Shishir Kolathaya
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This paper presents a novel method for safely navigating an aircraft along a desired route while avoiding moving obstacles. We utilize a class of control barrier functions (CBFs) based on collision cones to ensure the relative velocity between the aircraft and the obstacle consistently avoids a cone of vectors that might lead to a collision. By demonstrating that the proposed constraint is a valid CBF for the aircraft, we can leverage its real-time implementation via Quadratic Programs (QPs), termed the CBF-QPs. Validation includes simulating control law along trajectories, showing effectiveness in both static and moving obstacle scenarios.
