详情

原文传递 COBRA-DDP: Trajectory Generation and Collision Avoidance Augmentations for eVTOL Vehicles.

题名：	COBRA-DDP: Trajectory Generation and Collision Avoidance Augmentations for eVTOL Vehicles.
作者：	Houghton, M. D; Acheson, M. J; Patterson, A; Gregory, I. M.
摘要：	This paper presents a receding horizon model predictive control variation of the combined Bernstein polynomial optimal reciprocal collision avoidance (ORCA) differential dynamic programming (COBRA-DDP) algorithm for advanced air mobility (AAM) vehicles. Collision avoidanceincombinationwitheffectivetrajectoryreplanningareexpectedtobecorecomponents of AAM vehicles operating within a crowded airspace. This environment necessitates the use of real-time trajectory planning algorithms that are capable of planning around large numbers of stationary and moving obstacles. Previous work on COBRA-DDP demonstrated the capability of the algorithm to produce dynamically feasible trajectories for AAM vehicles and general collision avoidance. This paper improves upon the previous work by increasing the number of stationary and moving obstacles, while implementing a variation of COBRA-DDP that lends itself to real-time application. These advancements are demonstrated on an electric vertical takeoff and landing (eVTOL) vehicle simulation with highly nonlinear vehicle dynamics.
总页数：	11 pages