Energy-Optimal Waypoint-Following Guidance Considering Autopilot Dynamics

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

doi:10.1109/TAES.2019.2954149

Energy-Optimal Waypoint-Following Guidance Considering Autopilot Dynamics

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

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

Abstract

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.

Original language	English
Article number	8917649
Pages (from-to)	2701-2717
Number of pages	17
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	56
Issue number	4
DOIs	https://doi.org/10.1109/TAES.2019.2954149
Publication status	Published - Aug 2020
Externally published	Yes

Keywords

Autopilot lag
energy optimal
unmanned aerial vehicle
waypoint following

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10.1109/TAES.2019.2954149

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abstract = "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.",

keywords = "Autopilot lag, energy optimal, unmanned aerial vehicle, waypoint following",

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

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AB - 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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ER -

Energy-Optimal Waypoint-Following Guidance Considering Autopilot Dynamics

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Keywords

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