Energy-Optimal Waypoint-Following Guidance Considering Autopilot Dynamic

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This paper addresses the problem of energy-optimal waypoint-following guidance for an Unmanned Aerial Vehicle with the consideration of a general autopilot dynamics model. The proposed guidance law is derived as a solution of a linear quadratic optimal control problem in conjunction with a linearized kinematics model. The algorithm developed integrates path planning and following into a single step and is able to be applied to a general waypoint-following mission. Theoretical analysis reveals that previously suggested optimal point-to-point guidance laws are special cases of the proposed approach. Nonlinear numerical simulations clearly demonstrate the effectiveness of the proposed formulations.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2020-08
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, v.56, no.4, pp.2701 - 2717

ISSN
0018-9251
DOI
10.1109/TAES.2019.2954149
URI
http://hdl.handle.net/10203/275925
Appears in Collection
AE-Journal Papers(저널논문)
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