Optimal Control of Spacecraft for Close Proximity with Collision Avoidance

2016 ◽  
Author(s):  
Qing Ni ◽  
Licheng Feng ◽  
Yiyong Huang
Keyword(s):  
Optimal Control ◽  
Collision Avoidance ◽  
Close Proximity

Automatic Control of Underway Replenishment Maneuvers in a Random Sea

1978 ◽  
Vol 22 (01) ◽  
pp. 20-28
Author(s):  
Reidar Alvestad
Keyword(s):  
Computer Simulation ◽  
Automatic Control ◽  
Collision Avoidance ◽  
Nonlinear Interaction ◽  
Interaction Forces ◽  
Random Seas ◽  
Close Proximity ◽  
Controller Performance ◽  
Hybrid Computer ◽  
Avoidance Problem

This paper describes a hybrid computer simulation of two ships performing replenishment operations in random seas. Such operations present collision hazards due to the nonlinear interaction forces and moments which result from close proximity maneuvering while underway. Maneuvers are simulated to demonstrate automatic controller performance during station-keeping, station-changing, and the approach and breakaway phases of typical underway replenishment (UNREP) operations. Results indicate that automatic control should be considered as a possible solution to the UNREP collision avoidance problem.

The Uncertainty and Uncoordination of Mariners' Behaviour in Collision Avoidance at Sea

1995 ◽  
Vol 48 (3) ◽  
pp. 425-435 ◽  
Author(s):  
J. Zhao ◽  
W. G. Price ◽  
P. A. Wilson ◽  
M. Tan
Keyword(s):  
Decision Making ◽  
Simulation Model ◽  
Collision Avoidance ◽  
Simulation Models ◽  
Fuzzy Programming ◽  
Assessment Model ◽  
The Other ◽  
Entropy Theory ◽  
Close Proximity ◽  
Decision Making Model

It is well known that many collisions occur because one ship turns right whilst the other turns left when in close proximity to one another. Little is known as to why this occurs and, although some simulation models have been established using entropy theory, the problem remains unsolved.In this paper, an assessment model for uncertainty is reviewed briefly. The concepts of uncertainty and uncoordination of mariners' behaviour in collision avoidance are discussed. A simulation model in conjunction with a DCPA (distance to the closest point of approach) decision-making model using fuzzy programming is introduced to discuss coordination.

scholarly journals Visual Flight Rules-Based Collision Avoidance Systems for UAV Flying in Civil Aerospace

Robotics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 9 ◽  
Author(s):  
Hamid Alturbeh ◽  
James F. Whidborne
Keyword(s):  
Decision Making ◽  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Real Time ◽  
Collision Avoidance ◽  
Inverse Dynamics ◽  
Guidance System ◽  
Visual Flight Rules ◽  
Decision Making System

The operation of Unmanned Aerial Vehicles (UAVs) in civil airspace is restricted by the aviation authorities, which require full compliance with regulations that apply for manned aircraft. This paper proposes control algorithms for a collision avoidance system that can be used as an advisory system or a guidance system for UAVs that are flying in civil airspace under visual flight rules. A decision-making system for collision avoidance is developed based on the rules of the air. The proposed architecture of the decision-making system is engineered to be implementable in both manned aircraft and UAVs to perform different tasks ranging from collision detection to a safe avoidance manoeuvre initiation. Avoidance manoeuvres that are compliant with the rules of the air are proposed based on pilot suggestions for a subset of possible collision scenarios. The proposed avoidance manoeuvres are parameterized using a geometric approach. An optimal collision avoidance algorithm is developed for real-time local trajectory planning. Essentially, a finite-horizon optimal control problem is periodically solved in real-time hence updating the aircraft trajectory to avoid obstacles and track a predefined trajectory. The optimal control problem is formulated in output space, and parameterized by using B-splines. Then the optimal designed outputs are mapped into control inputs of the system by using the inverse dynamics of a fixed wing aircraft.

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