TY - GEN
T1 - UAV path planning via Legendre pseudospectral method improved by differential flatness
AU - Siyu, Zhang
AU - Yu, Jianqiao
AU - Sun, Huadong
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/17
Y1 - 2015/7/17
N2 - A Legendre pseudo spectral combination algorithm introduced by the theory of differential flatness is proposed, which transforms the unmanned aerial vehicles path planning problem into an optimal control problem. The vehicles kinematics state equations are built, and the optimal control problem which uses the equations as constraints and the shortest flight time as the cost is also built. By the differential flatness, the equations of motion state can be converted, that is the control variables and constraints of the optimal control problem can be simplified by the use of flatness output. Then optimal control problem after simplified can be solved through Legendre pseudo spectral method. The proposed combination algorithm has been compared with Legendre pseudo spectral method, and the simulation by Matlab is used to verify that the algorithm can reduce approximately 60% computation time with ensuring accuracy. The result has proved the high engineering value of the proposed algorithm.
AB - A Legendre pseudo spectral combination algorithm introduced by the theory of differential flatness is proposed, which transforms the unmanned aerial vehicles path planning problem into an optimal control problem. The vehicles kinematics state equations are built, and the optimal control problem which uses the equations as constraints and the shortest flight time as the cost is also built. By the differential flatness, the equations of motion state can be converted, that is the control variables and constraints of the optimal control problem can be simplified by the use of flatness output. Then optimal control problem after simplified can be solved through Legendre pseudo spectral method. The proposed combination algorithm has been compared with Legendre pseudo spectral method, and the simulation by Matlab is used to verify that the algorithm can reduce approximately 60% computation time with ensuring accuracy. The result has proved the high engineering value of the proposed algorithm.
KW - Differential Flatness Theory
KW - Legendre Pseudospectral Method
KW - Optimal Control Problem
KW - Path Planning
KW - Unmanned aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=84945563274&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2015.7162357
DO - 10.1109/CCDC.2015.7162357
M3 - Conference contribution
AN - SCOPUS:84945563274
T3 - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
SP - 2580
EP - 2584
BT - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th Chinese Control and Decision Conference, CCDC 2015
Y2 - 23 May 2015 through 25 May 2015
ER -