用MPC-CBF框架实现飞机自动滑行避障与轨迹跟踪
Safe Reference Tracking and Collision Avoidance for Taxiing Aircraft Using an MPC-CBF Framework
- 基于图模型规划最短滑行路径，结合飞机转向能力生成参考轨迹
- 通过高阶控制屏障函数确保多障碍物避让和轨迹跟踪安全性
- 仿真对比显示该方法在安全性和轨迹跟随上优于传统PID-CBF
本文提出一种用于飞机从机库到起飞点自动滑行的框架，基于机场图模型构建滑行路径。将滑行道交叉口建模为无向图节点，根据飞机物理限制算法生成有向图，并使用Dijkstra算法求解最短有效滑行路径。以此路径构造考虑飞机转向能力的参考轨迹。针对二维单车模型（2D unicycle dynamics）与加速度控制输入，利用高阶控制屏障函数（HOCBFs）设计多障碍物避障与安全轨迹跟踪的约束条件。进而构建MPC-CBF控制框架，在跟踪参考轨迹的同时满足安全约束。通过仿真实验对比了MPC-CBF与PID-CBF控制器的性能。
原文摘要 · Abstract (English)
In this paper, we develop a framework for the automatic taxiing of aircraft between hangar and take-off given a graph-based model of an airport. We implement a high-level path-planning algorithm that models taxiway intersections as nodes in an undirected graph, algorithmically constructs a directed graph according to the physical limitations of the aircraft, and finds the shortest valid taxi path through the directed graph using Dijkstra's algorithm. We then use this shortest path to construct a reference trajectory for the aircraft to follow that considers the turning capabilities of a given aircraft. Using high-order control barrier functions (HOCBFs), we construct safety conditions for multi-obstacle avoidance and safe reference tracking for simple 2D unicycle dynamics with acceleration control inputs. We then use these safety conditions to design an MPC-CBF framework that tracks the reference trajectory while adhering to the safety constraints. We compare the performance of our MPC-CBF controller with a PID-CBF control method via simulations.
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