A methodology for optimal trajectory planning, useful in the nap-of-the-earth guidance of helicopters, is presented. This approach uses an adjoint-control transformation along with a one-dimensional search scheme for generating the optimal trajectories. In addition to being useful for helicopter nap-of-the-earth guidance, the trajectory planning solution is of interest in several other contexts, such as robotic vehicle guidance and terrain-following guidance for cruise missiles and aircraft. A distinguishing feature of the present research is that the terrain constraint and the threat envelopes are incorporated in the equations of motion. Second-order necessary conditions are examined.
Helicopter trajectory planning using optimal control theory
1988 American Control Conference ; 1988 ; Atlanta, GA, United States
1988-01-01
Aufsatz (Konferenz)
Keine Angabe
Englisch
Optimal Trajectory Planning for an Autonomous Helicopter
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British Library Conference Proceedings | 2009
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