This chapter addresses the problem of energy-optimal waypoint-following guidance for a UAV 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.
Energy-Optimal Waypoint-Following Guidance Law Considering Autopilot Dynamics
Springer Aerospace Techn.
2020-05-14
24 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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