Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions

TL;DR

This paper introduces a real-time collision avoidance method for fixed-wing UAVs using collision cone control barrier functions, ensuring safe navigation amidst moving obstacles through quadratic programming.

Contribution

The paper proposes a novel collision cone-based control barrier function approach for fixed-wing UAVs, enabling real-time safe navigation in cluttered environments.

Findings

Effective collision avoidance in static and dynamic obstacle scenarios

Real-time implementation via quadratic programs (QPs)

Validated through simulation of control laws along trajectories

Abstract

Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This paper presents a novel method for safely navigating an aircraft along a desired route while avoiding moving obstacles. We utilize a class of control barrier functions (CBFs) based on collision cones to ensure the relative velocity between the aircraft and the obstacle consistently avoids a cone of vectors that might lead to a collision. By demonstrating that the proposed constraint is a valid CBF for the aircraft, we can leverage its real-time implementation via Quadratic Programs (QPs), termed the CBF-QPs. Validation includes simulating control law along trajectories, showing effectiveness in both static and moving obstacle scenarios.