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.
| Translated title of the contribution | Control Barrier Function-based Control for Aircraft Avoidance and Guidance with Dynamic Obstacles |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 2814-2823 |
| Number of pages | 10 |
| Journal | Binggong Xuebao/Acta Armamentarii |
| Volume | 44 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - 20 Sept 2023 |