Robust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866909556540440576 |
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| author | Kordabad, Arash Bahari Da Col, Andrea Ghosh, Arabinda Stroeve, Sybert Soudjani, Sadegh |
| author_facet | Kordabad, Arash Bahari Da Col, Andrea Ghosh, Arabinda Stroeve, Sybert Soudjani, Sadegh |
| contents | This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents is accessible in the form of waypoints or destinations. Consequently, we consider that other agents follow their optimal Dubin's path--a trajectory that connects their current state to their intended state--while accounting for potential uncertainties. We propose using scenario tree model predictive control as a robust approach that demonstrates computational efficiency. We demonstrate that the proposed method can easily integrate intent information and offer a robust scheme that handles different uncertainties. The method is illustrated through simulation results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_06999 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Robust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance Kordabad, Arash Bahari Da Col, Andrea Ghosh, Arabinda Stroeve, Sybert Soudjani, Sadegh Systems and Control Optimization and Control This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents is accessible in the form of waypoints or destinations. Consequently, we consider that other agents follow their optimal Dubin's path--a trajectory that connects their current state to their intended state--while accounting for potential uncertainties. We propose using scenario tree model predictive control as a robust approach that demonstrates computational efficiency. We demonstrate that the proposed method can easily integrate intent information and offer a robust scheme that handles different uncertainties. The method is illustrated through simulation results. |
| title | Robust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2408.06999 |