@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.",
pages = "325--334",
booktitle = "2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2019",
address = "United States",
}