Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance

Shaoming He; Hyo Sang Shin; Antonios Tsourdos

doi:10.1109/REDUAS47371.2019.8999721

Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance

Shaoming He, Hyo Sang Shin, Antonios Tsourdos

Cranfield University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

This paper addresses the problem of energy-optimal waypoint-following guidance for an Unmanned Aerial Vehicle with the consideration of arbitrary number of obstacles. The proposed guidance law is derived as a solution of a linear quadratic optimal control problem in conjunction with convex parameter optimization. The algorithm developed integrates path following and obstacle avoidance into a single step and is able to be applied to a general waypoint-following mission. Several particular cases of the proposed guidance law are presented to provide better insights of the proposed algorithm. Nonlinear numerical simulations clearly demonstrate the effectiveness of the proposed formulations.

Original language	English
Title of host publication	2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	325-334
Number of pages	10
ISBN (Electronic)	9781728166001
DOIs	https://doi.org/10.1109/REDUAS47371.2019.8999721
Publication status	Published - Nov 2019
Externally published	Yes
Event	2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019 - Cranfield, United Kingdom Duration: 25 Nov 2019 → 27 Nov 2019

Publication series

Name	2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019

Conference

Conference	2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019
Country/Territory	United Kingdom
City	Cranfield
Period	25/11/19 → 27/11/19

Access to Document

10.1109/REDUAS47371.2019.8999721

Cite this

He, S., Shin, H. S., & Tsourdos, A. (2019). Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance. In 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019 (pp. 325-334). Article 8999721 (2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/REDUAS47371.2019.8999721

He, Shaoming ; Shin, Hyo Sang ; Tsourdos, Antonios. / Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance. 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 325-334 (2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019).

@inproceedings{b34fcb2d4def49fab2d8bdca030a6130,

title = "Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance",

abstract = "This paper addresses the problem of energy-optimal waypoint-following guidance for an Unmanned Aerial Vehicle with the consideration of arbitrary number of obstacles. The proposed guidance law is derived as a solution of a linear quadratic optimal control problem in conjunction with convex parameter optimization. The algorithm developed integrates path following and obstacle avoidance into a single step and is able to be applied to a general waypoint-following mission. Several particular cases of the proposed guidance law are presented to provide better insights of the proposed algorithm. Nonlinear numerical simulations clearly demonstrate the effectiveness of the proposed formulations.",

author = "Shaoming He and Shin, {Hyo Sang} and Antonios Tsourdos",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019 ; Conference date: 25-11-2019 Through 27-11-2019",

year = "2019",

month = nov,

doi = "10.1109/REDUAS47371.2019.8999721",

language = "English",

series = "2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019",

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}

He, S, Shin, HS & Tsourdos, A 2019, Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance. in 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019., 8999721, 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019, Institute of Electrical and Electronics Engineers Inc., pp. 325-334, 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019, Cranfield, United Kingdom, 25/11/19. https://doi.org/10.1109/REDUAS47371.2019.8999721

Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance. / He, Shaoming; Shin, Hyo Sang; Tsourdos, Antonios.
2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 325-334 8999721 (2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Shin, Hyo Sang

AU - Tsourdos, Antonios

PY - 2019/11

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N2 - This paper addresses the problem of energy-optimal waypoint-following guidance for an Unmanned Aerial Vehicle with the consideration of arbitrary number of obstacles. The proposed guidance law is derived as a solution of a linear quadratic optimal control problem in conjunction with convex parameter optimization. The algorithm developed integrates path following and obstacle avoidance into a single step and is able to be applied to a general waypoint-following mission. Several particular cases of the proposed guidance law are presented to provide better insights of the proposed algorithm. Nonlinear numerical simulations clearly demonstrate the effectiveness of the proposed formulations.

AB - This paper addresses the problem of energy-optimal waypoint-following guidance for an Unmanned Aerial Vehicle with the consideration of arbitrary number of obstacles. The proposed guidance law is derived as a solution of a linear quadratic optimal control problem in conjunction with convex parameter optimization. The algorithm developed integrates path following and obstacle avoidance into a single step and is able to be applied to a general waypoint-following mission. Several particular cases of the proposed guidance law are presented to provide better insights of the proposed algorithm. Nonlinear numerical simulations clearly demonstrate the effectiveness of the proposed formulations.

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DO - 10.1109/REDUAS47371.2019.8999721

M3 - Conference contribution

AN - SCOPUS:85081216030

T3 - 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019

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BT - 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

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He S, Shin HS, Tsourdos A. Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance. In 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 325-334. 8999721. (2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019). doi: 10.1109/REDUAS47371.2019.8999721

Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance

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