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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    Title :

    Energy-Optimal Waypoint-Following Guidance Considering Autopilot Dynamics


    Contributors:


    Publication date :

    2020-08-01


    Size :

    2968222 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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