Control Barrier Function-based Control for Aircraft Avoidance and Guidance with Dynamic Obstacles

doi:10.12382/bgxb.2022.1002

Abstract

Abstract:

To improve the engineering applicability of aircraft when pursuing a target in the presence of dynamic obstacles, the relative motion relationship between the aircraft and obstacles, as well as between the aircraft and the target are analyzed. Leveraging the control barrier function (CBF), the velocity obstacle approach is used to constrain the velocity of the aircraft, and a quadratic programming (QP) problem is constructed with the existing proportional guidance law. Then, a closed-form obstacle avoidance guidance law is proposed by solving the QP problem. Numerical simulation and analysis of the trajectory properties and overload show that the proposed obstacle avoidance and guidance law can avoid a moving obstacle in real time and pursue the target with favorable global properties. Compared to existing methods, the overload curve is smoother, and the saturation overload ratio is smaller.

Key words: aircraft, obstacle avoidance control, guidance law, control barrier function

CLC Number:

TJ765.3

DU Hongbao, WANG Zhengjie, TANG Lixi, ZHANG Xiaoning. Control Barrier Function-based Control for Aircraft Avoidance and Guidance with Dynamic Obstacles[J]. Acta Armamentarii, 2023, 44(9): 2814-2823.

Figures/Tables 12

Fig.1 Relative motion relationship between aircraft and obstacle

Fig.2 Relative motion relationship between aircraft and target

Fig.3 Diagram of the velocity obstacle approach

Fig.4 Avoidance and guidance control flow of an aircraft

Table 1 Simulation parameters of obstacle avoidance and guidance law

参数	数值
飞行器初始位置/km	(0,1)
飞行器速度/(m·s^-1)	400
目标初始位置/km	(4,1)
目标速度/(m·s^-1)	130±10
障碍物初始位置/km	(2.3,1.75)
障碍物速度/(m·s^-1)	10~50

Fig.5 Trajectory of proportional guidance law

Fig.6 Aircraft trajectory comparison of obstacle avoidance and guidance law under different conditions

Fig.7 Trajectories of the aircraft with different β values

Fig.8 Aircraft overload comparison of obstacle avoidance and guidance law under different conditions

Fig.9 Relationship between aircraft velocity and overload

Fig.10 Comparison of this work with Ref.[6] and Ref.[20]

Table 2 Performance comparison of obstacle avoidance and different guidance laws

避障制导律	静止障碍物	运动障碍物	命中时间/s
本文	√	√	11.87
文献[6]	√	√	12.14
文献[20]	√	×	11.46

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