TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
Online ISSN : 2189-4205
Print ISSN : 0549-3811
ISSN-L : 0549-3811
Model Predictive Control for Parallel Planning of Conflict-free Trajectories for Multiple Aircraft
Nobuhiro YOKOYAMA
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ジャーナル フリー

2014 年 57 巻 6 号 p. 352-360

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抄録
This paper proposes a parallel model predictive control (MPC) scheme for planning conflict-free trajectories for multiple aircraft, in which each aircraft's computer synchronously solves mixed-integer quadratically constrained quadratic programming (MIQCQP) problems. The main contribution of this paper is the formulation of compatibility constraints for the separation of aircraft, which guarantees recursive feasibility and enables synchronous calculations. Moreover, the constraints on the velocity and acceleration, which are often overly simplified in existing studies, are tightly formulated in the framework of mixed-integer linear constraints. Through numerical simulations, the effectiveness of the scheme is confirmed in terms of the scalability, the recursive feasibility, and the validity of the trajectories.
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© 2014 The Japan Society for Aeronautical and Space Sciences
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