Autonomous flight trajectory generation via attractor dynamics

This paper describes the use of non-linear attractor dynamics to generate trajectories free of collisions for an autonomous vehicle moving in 3D. Computer simulations are used to test the behaviour and stability of the airship motion during the task of flying toward a target destination while simultaneously avoiding collisions with (static or moving) obstacles. Results indicate that if parameter values are chosen within reasonable ranges, then the flight controller works quite well even when subject to disturbances along the generated flight path.