Khare, Ishaan (IIIT-Hyderabad), Krishna, Madhava (IIIT-Hyderabad), Kandath, Harikumar (International Institute of Information Technology)

Predictive Optimal Collision Avoidance for a Swarm of Fixed Wing Aircraft in 3D Space

Scheduled for presentation during the Regular Session "Path Planning IV" (FrA4), Friday, June 24, 2022, 09:40−10:00, Divona-2

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 17, 2024

Abstract

In this paper, we propose a predictive and cooperative optimal control based autonomous navigation and collision avoidance for multiple fixed-wing aircraft (FWA) that also takes into account the physical constraints of the aircraft. The proposed method is implemented in a cooperative framework, analogous to the Reciprocal Velocity Obstacle (RVO) framework for autonomous navigation and collision avoidance for FWA swarm moving in a three dimensional (3D) space. Also, the change in performance with respect to varying prediction horizon is analysed through numerical simulations. Also, as a result of predictive optimal control and cooperation, we get less conservative manoeuvres, reduced path lengths, and less deviation from the shortest path when compared to the conventional method without prediction and cooperation. Simulation results are provided, highlighting the advantages of the proposed method when compared to a popular method (Optimal reciprocal collision avoidance) for collision avoidance in 3D for FWA swarm and also against FGA algorithm (Fast geometric avoidance algorithm).