Optimal Integrated Waypoint Following and Obstacle Avoidance Guidance Law

Shaoming He; Chang Hun Lee; Hyo Sang Shin; Antonios Tsourdos

doi:10.1007/978-3-030-47348-8_10

Optimal Integrated Waypoint Following and Obstacle Avoidance Guidance Law

Shaoming He^*, Chang Hun Lee, Hyo Sang Shin, Antonios Tsourdos

^*此作品的通讯作者

宇航学院

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

摘要

This chapter addresses the problem of energy-optimal waypoint-following guidance for an UAV 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.

源语言	英语
主期刊名	Springer Aerospace Technology
出版商	Springer Nature
页	199-214
页数	16
DOI	https://doi.org/10.1007/978-3-030-47348-8_10
出版状态	已出版 - 2020

出版系列

姓名	Springer Aerospace Technology
ISSN（印刷版）	1869-1730
ISSN（电子版）	1869-1749

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10.1007/978-3-030-47348-8_10

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He, S., Lee, C. H., Shin, H. S., & Tsourdos, A. (2020). Optimal Integrated Waypoint Following and Obstacle Avoidance Guidance Law. 在 Springer Aerospace Technology (页码 199-214). (Springer Aerospace Technology). Springer Nature. https://doi.org/10.1007/978-3-030-47348-8_10

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abstract = "This chapter addresses the problem of energy-optimal waypoint-following guidance for an UAV 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 Lee, {Chang Hun} and Shin, {Hyo Sang} and Antonios Tsourdos",

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AB - This chapter addresses the problem of energy-optimal waypoint-following guidance for an UAV 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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Optimal Integrated Waypoint Following and Obstacle Avoidance Guidance Law

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