This paper discusses the problem of a turn-rate constrained vehicle, such as a fixed-wing MAV (miniature air vehicle) required to fly along the path defined by a series of waypoints. An extremal path, named as γ-trajectory, that transitions between two consecutive waypoint segments (obtained by joining two waypoints in sequence) in a timeoptimal fashion, is obtained. This algorithm is also used to track the maximum portion of waypoint segments with the desired shortest distance between the trajectory and the associated waypoint. Subsequently, the proposed trajectory is compared with existing transition trajectory in the literature to show better performance in several aspects.
Optimal transition trajectory for waypoint following
2013-08-01
651200 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Synthetic-Waypoint Guidance Algorithm for Following a Desired Flight Trajectory
Online Contents | 2010
|Energy-Optimal Waypoint-Following Guidance Considering Autopilot Dynamics
IEEE | 2020
|Curvature-constrained trajectory generation for waypoint following for miniature air vehicle
Online Contents | 2014
|Curvature-constrained trajectory generation for waypoint following for miniature air vehicle
SAGE Publications | 2014
|