Robust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance

Autor:	Kordabad, Arash Bahari, Da Col, Andrea, Ghosh, Arabinda, Stroeve, Sybert, Soudjani, Sadegh
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
Popis:	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 offers 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. Comment: 8 Pages, 10 Figs
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2408.06999 Zobrazit plný text záznamu View this record from Arxiv