This article addresses the problem of energy-optimal waypoint-following guidance for an unmanned aerial vehicle, considering 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 path following into a single step, and can 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.


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    Titel :

    Energy-Optimal Waypoint-Following Guidance Considering Autopilot Dynamics


    Beteiligte:
    He, Shaoming (Autor:in) / Shin, Hyo-Sang (Autor:in) / Tsourdos, Antonios (Autor:in) / Lee, Chang-Hun (Autor:in)


    Erscheinungsdatum :

    01.08.2020


    Format / Umfang :

    2968222 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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