Collision Avoidance and Geofencing for Fixed-wing Aircraft with Control Barrier Functions
CoRR(2024)
摘要
Safety-critical failures often have fatal consequences in aerospace control.
Control systems on aircraft, therefore, must ensure the strict satisfaction of
safety constraints, preferably with formal guarantees of safe behavior. This
paper establishes the safety-critical control of fixed-wing aircraft in
collision avoidance and geofencing tasks. A control framework is developed
wherein a run-time assurance (RTA) system modulates the nominal flight
controller of the aircraft whenever necessary to prevent it from colliding with
other aircraft or crossing a boundary (geofence) in space. The RTA is
formulated as a safety filter using control barrier functions (CBFs) with
formal guarantees of safe behavior. CBFs are constructed and compared for a
nonlinear kinematic fixed-wing aircraft model. The proposed CBF-based
controllers showcase the capability of safely executing simultaneous collision
avoidance and geofencing, as demonstrated by simulations on the kinematic model
and a high-fidelity dynamical model.
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