Minimum-Effort Waypoint-Following Guidance

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This paper addresses the problem of minimum-effort waypoint-following guidance with/without arrival angle constraints of an unmanned aerial vehicle. By using a linearized kinematics model, the proposed guidance laws are derived as the solutions of a linear quadratic optimal control problem with an arbitrary number of terminal boundary constraints. The theoretical analysis reveals that both optimal proportional navigation guidance and trajectory shaping guidance are special cases of the proposed guidance laws. The key feature of the proposed algorithms lies in their generic property. For this reason, the guidance laws developed can be applied to general waypoint-following missions with an arbitrary number of waypoints and an arbitrary number of arrival angle constraints. Nonlinear numerical simulations clearly demonstrate the effectiveness of the proposed formulations.
Publisher
AMER INST AERONAUTICS ASTRONAUTICS
Issue Date
2019-07
Language
English
Article Type
Article
Citation

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, v.42, no.7, pp.1551 - 1561

ISSN
0731-5090
DOI
10.2514/1.G004045
URI
http://hdl.handle.net/10203/263893
Appears in Collection
AE-Journal Papers(저널논문)
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