Optimal three dimensional aircraft terrain following and collision avoidance

T. Sharma, P. Williams, C. Bil, A. Eberhard


Military aircraft must often fly in close proximity to terrain. In this article, optimal terrain following is considered as a minimax optimal control problem, which is solved using direct transcription of the continuous optimal control problem. Within a very general framework for solving such problems, we transform the nonsmooth cost function into a constrained nonlinear programming problem. In the formulation, we solve for optimal collision avoidance manoeuvres. To ensure smooth derivatives of general three dimensional terrain, it is approximated using B-splines. A receding horizon tracking controller tracks the optimal trajectories with disturbances to the aircraft model and initial conditions.

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DOI: http://dx.doi.org/10.21914/anziamj.v47i0.1071

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ANZIAM Journal, ISSN 1446-8735, copyright Australian Mathematical Society.