A horizontal waypoint guidance algorithm is proposed by applying line-following guidance to waypoint line segments in sequence. The line-following guidance is designed using an LQR (linear quadratic regulator). Then, the optimal waypoint changing points are derived by minimizing the accelerations required for changing the waypoint line segments. Also derived is a sufficient condition for the stability bound of ground speed changes based on the Lyapunov stability theorem. Simulation results show that the proposed algorithm can effectively guide a vehicle along the sequence of waypoint line segments.
Horizontal waypoint guidance design using optimal control
IEEE Transactions on Aerospace and Electronic Systems ; 38 , 3 ; 1116-1120
2002-07-01
128660 byte
Article (Journal)
Electronic Resource
English
CORRESPONDENCE - Horizontal Waypoint Guidance Design Using Optimal Control
Online Contents | 2002
|Energy Optimal Waypoint Guidance Synthesis for Antiship Missiles
Online Contents | 2010
|OPTIMAL GUIDANCE OF ROTORCRAFT WITH MULTIPLE WAYPOINT CONSTRAINTS
British Library Conference Proceedings | 2001
|