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arXiv · 1806.07328

Hybrid Planning and Control for Multiple Fixed-Wing Aircraft under Input Constraints

Kunal Garg·Dimitra Panagou
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Abstract

This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of state-feedback controllers along with a state-dependent switching logic are synthesized in a hybrid system to generate collision-free trajectories that converge to the desired destinations of the vehicles. The switching law is designed so that the safety can be guaranteed while no Zeno behavior can occur. A novel temporary goal assignment technique is also designed to guarantee convergence. We analyze the individual modes for safety and the closed-loop hybrid system for convergence. The theoretical developments are demonstrated via simulation results.

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Kunal Garg, Dimitra Panagou. 2018-06-19. Hybrid Planning and Control for Multiple Fixed-Wing Aircraft under Input Constraints. https://doi.org/10.2514/6.2019-0655

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