  Fixed-wing UAVs have transformed the transportation system with their high
flight speed and long endurance, yet their safe operation in increasingly
cluttered environments depends heavily on effective collision avoidance
techniques. This paper presents a novel method for safely navigating an
aircraft along a desired route while avoiding moving obstacles. We utilize a
class of control barrier functions (CBFs) based on collision cones to ensure
the relative velocity between the aircraft and the obstacle consistently avoids
a cone of vectors that might lead to a collision. By demonstrating that the
proposed constraint is a valid CBF for the aircraft, we can leverage its
real-time implementation via Quadratic Programs (QPs), termed the CBF-QPs.
Validation includes simulating control law along trajectories, showing
effectiveness in both static and moving obstacle scenarios.
