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CEAS EuroGNC 2019

Near-Term Flight Path Adaption for Tilt-Wing Aircraft Obstacle Avoidance
I. Barz Insitute of Flight System Dynamics, RWTH Aachen University, Aachen, Germany
P. Hartmann
D. Moormann
Abstract:
Current research projects within RWTH Aachen University investigate unmanned tilt-wing applications to support rescue forces within rescue missions. To meet the practical challenges of such missions, integration into civil airspace and along with it avoidance of obstacles is necessary. Consequently, the flight path planning requires adjustments during flight to perform obstacle avoidance maneuvering. As obstacles are typically detected on short notice the flight path needs to be adapted in the near term. This work describes the generation of near-term horizontal avoidance paths that satisfy all flight dynamic constraints of a tilt-wing aircraft: Due to the tilt-wing's significant airspeed variation from hover to fast forward flight these constraints depend on the current flight speed and need to be adapted to the current flight situation. For avoidance path generation varying flight dynamic constraints are explicitly considered and estimated during flight. The paper presents a geometric approach for avoidance of static obstacles during any flight phase. This approach and the interaction between flight path controller, estimation of constraints and the path generation are discussed in detail. The overall flight guidance system was evaluated by simulations of selected mission scenarios. Simulation results indicate good performance and applicability of the overall system.
Keywords: Aircraft trajectory planning; MAV trajectory planning; Onboard planning and execution
 View PDF CEAS-GNC-2019-071


I. Barz, P. Hartmann, D. Moormann: Near-Term Flight Path Adaption for Tilt-Wing Aircraft Obstacle Avoidance. Proceedings of the 2019 CEAS EuroGNC conference. Milan, Italy. April 2019. CEAS-GNC-2019-071.
BibTeX entry:

@Incollection{CEAS-GNC-2019-071,
    authors = {Barz, I. and Hartmann, P. and Moormann, D.},
    title = {Near-Term Flight Path Adaption for Tilt-Wing Aircraft Obstacle Avoidance},
    booktitle = {Proceedings of the 2019 {CEAS EuroGNC} conference},
    address = {Milan, Italy},
    month = apr,
    year = {2019},
    note = {CEAS-GNC-2019-071}
}