Hybrid Planning and Control for Multiple Fixed-Wing Aircraft under Input Constraints
It addresses the problem of safe and convergent multi-vehicle coordination under realistic input constraints for fixed-wing or car-like vehicles.
This paper develops a hybrid control protocol for multiple fixed-wing aircraft with turning rate and linear speed constraints, ensuring collision-free trajectories that converge to desired destinations, as demonstrated in simulations.
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of state-feedback controllers along with a state-dependent switching logic are synthesized in a hybrid system to generate collision-free trajectories that converge to the desired destinations of the vehicles. The switching law is designed so that the safety can be guaranteed while no Zeno behavior can occur. A novel temporary goal assignment technique is also designed to guarantee convergence. We analyze the individual modes for safety and the closed-loop hybrid system for convergence. The theoretical developments are demonstrated via simulation results.