In this paper, the interception of a target vehicle is presented utilizing a Bézier path. Utilizing the Bézier path, the controlled vehicle is navigated from an initial point and velocity vector to a desired target waypoint and velocity vector. To ensure a flyable path, control points of the Bézier are adjusted using a nonlinear program that takes into account maximum path curvature and vehicle performance criteria. A model predictive controller is designed to provide the real-time controls that drive the controlled vehicle along the Bézier path with minimal flight path error and control effort. A numerical simulation, which demonstrates the ability to navigate to a desired waypoint and velocity vector for circular rejoin, is provided as an example.


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    Titel :

    Circular Rejoin in 3D Using Bézier Paths


    Beteiligte:


    Erscheinungsdatum :

    2020-08-01


    Format / Umfang :

    863761 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch