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Aircraft Conflict-free Navigation using MPC and Navigation Functions


G. Chaloulos

IfA Internal Seminar Series

Navigation Functions (NFs) methods have been used so far mainly in the robotics field, for the control of vehicles. Their main advantage is that control based on NFs can provide guaranteed collision avoidance as well as provable convergence to the desired configuration. On the other hand, they have a major disadvantage: they are unable to handle constraints in several applications. In this work, we apply the NF control method to aircraft Conflict Detection and Resolution problems (benefiting from the guaranteed collision avoidance properties), using Model Predictive Control to handle the aircraft navigation constraints. The proposed scheme is tested against several traffic scenarios in simulation to demonstrate its potential.


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