Dynamic Obstacle Avoidance with Guarantees for Small Fixed-Wing Aircraft

This paper presents a motion planner intended for small fixed-wing aircraft that guarantees the existence of a collision-free trajectory, given assumptions on an environment of dynamic obstacles. The planner’s guarantees are obtained using a formally verified branch and bound solver and hold under the presence of obstacle uncertainty. Closed-loop simulations are performed using a six degree-of-freedom aircraft model with a linear parameter-varying controller to demonstrate the collision avoidance capabilities.