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http://dx.doi.org/10.5302/J.ICROS.2005.11.3.240

Optimal Waypoint Guidance for Unmanned Aerial Vehicles (UAVs)  

Ryoo, Chang-Kyung (한국과학기술원 기계공학과 항공우주공학)
Shin, Hyo-Sang (한국과학기술원 기계공학과 항공우주공학)
Tahk, Min-Jea (한국과학기술원 기계공학과 항공우주공학)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.3, 2005 , pp. 240-245 More about this Journal
Abstract
In this paper, planar waypoint guidance synthesis for UAVs using the LQ optimal impact-angle-control guidance law is proposed. We prove that the energy-optimal control problem with the constraint of passing through the waypoints is equivalent to the problem of finding the optimal pass angles on each waypoint of the optimal impact-angle-control law. The optimal pass angles can be obtained as a numerical solution of the simple pass angle optimization problem that requires neither input parameterization nor constraints. The trajectory obtained by applying the optimal impact-angle-control law with these optimal pass angles becomes energy optimal.
Keywords
waypoint guidance; optimal impact-angle-control law; unmanned aerial vehicle;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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