Nonlinear Model Predictive Real-time Control of Aircraft in Collision Avoidance
Yuji Shimizu · AIAA Scitech 2020 Forum · 2020
For collision avoidance problem, some methods have been researched in autonomous control field. However it is difficult to apply them to an aircraft because there are many practical issues such as calculation problem, infeasibility, complex dynamics of aircraft and so on. In this paper, we apply MPPI(Model Predictive Path Integral Control) to an aircraft. MPPI has optimal control algorithms based on stochastic sampling of trajectories and can perform in real-time with GPU computing. Finally, some simulations of collision avoidance illustrate the safety and efficiency of this method and prove the usefulness in aeronautical field.