제어로봇시스템학회:학술대회논문집
- 1997.10a
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- Pages.1867-1870
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- 1997
Waypoint guidance using optimal control
최적제어를 이용한 경로점 유도
Abstract
Waypoint guidance is a technique used to steer an autonomous vehicle along a desired trajectory. In this paper, a waypoint guidance algorithm for horizontal plane is derived by combining a line following guidance law and a turning guidance law. The line following guidance is derived based on LQR while the turning guidance is designed using rendzvous problem. Through simulation, the proposed method shows a good performance.