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Model Predictive Approach for Short-Term Collision Avoidance

Dikarew, Alexej (2021) Model Predictive Approach for Short-Term Collision Avoidance. In: 77th Annual Vertical Flight Society Forum and Technology Display: The Future of Vertical Flight, FORUM 2021. Vertical Flight Society (VFS) 77th Annual Forum & Technology Display, 10.-14. Mai 2021, Virtual, USA. ISBN 978-171383001-6.

Full text not available from this repository.

Abstract

Automatic helicopter flight in uncertain surroundings remains a challenging task due to sudden changes in environment, requiring fast response to guarantee safe and collision-free guidance. Increasing numbers of small unmanned aerial vehicles, which are not covered by air traffic control, pose a potential threat to rotorcraft operating in lower airspace. In order to provide collision avoidance in this scenario, the capability of reacting immediately to appearing obstacles and guiding the rotorcraft along feasible evasive trajectories is required. This paper presents an approach to short-term collision avoidance based on model predictive techniques. The proposed method, originally developed for automotive applications, finds optimal control inputs by predicting a set of trajectories utilizing a model resembling the helicopter dynamics. Compared to model predictive control no iterative optimization is adopted, resulting in deterministic execution time. The proposed method is evaluated by closed-loop simulations with a non-linear helicopter model. Additional hardware-in-the-loop simulations are conducted to examine the real-time capability of the approach.

Item URL in elib:https://elib.dlr.de/144052/
Document Type:Conference or Workshop Item (Speech)
Title:Model Predictive Approach for Short-Term Collision Avoidance
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Dikarew, AlexejAlexej.Dikarew (at) dlr.deUNSPECIFIED
Date:2021
Journal or Publication Title:77th Annual Vertical Flight Society Forum and Technology Display: The Future of Vertical Flight, FORUM 2021
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISBN:978-171383001-6
Status:Published
Keywords:model predictive control; rotorcraft; helicopter; DLR; ACT/FHS; collision avoidance; flight control
Event Title:Vertical Flight Society (VFS) 77th Annual Forum & Technology Display
Event Location:Virtual, USA
Event Type:international Conference
Event Dates:10.-14. Mai 2021
Organizer:Vertical Flight Society (VFS)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Efficient Vehicle
DLR - Research area:Aeronautics
DLR - Program:L EV - Efficient Vehicle
DLR - Research theme (Project):L - Virtual Rotorcraft and Validation
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems
Institute of Flight Systems > Rotorcraft
Deposited By: Dikarew, Alexej
Deposited On:06 Dec 2021 21:04
Last Modified:08 Mar 2022 15:21

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