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On-line Trajectory planning for aerial vehicles: a safe approach with guaranteed task completion
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
Swedish Defence Research Agency (FOI), Department of Aeronautics .
Swedish Defence Research Agency (FOI).ORCID-id: 0000-0002-7714-928X
2006 (Engelska)Ingår i: Collection of Technical Papers: AIAA Guidance, Navigation, and Control Conference 2006, 2006, s. 914-938Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

On-line trajectory optimization in three dimensional space is the main topic of the paper at hand. The high-level framework augments on-line receding horizon control with an off-line computed terminal cost that captures the global characteristics of the environment, as well as any possible mission objectives. The first part of the paper is devoted to the single vehicle case while the second part considers the problem of simultaneous arrival of multiple aerial vehicles. The main contribution of the first part is two-fold. Firstly, by augmenting a so called safety maneuver at the end of the planned trajectory, this paper extends previous results by addressing provable safety properties in a 3 D setting. Secondly, assuming initial feasibility, the planning method presented is shown to have finite time task completion. Moreover, a quantitative comparison between the two competing objectives of optimality and computational tractability is made. Finally, some other key characteristics of the trajectory planner, such as ability to minimize threat exposure and robustness, are highlighted through simulations. As for the simultaneous arrival problem considered in the second part, by using a time-scale separation principle, we are able to adopt standard Laplacian control to a consensus problem which is neither unconstrained, nor first order.

Ort, förlag, år, upplaga, sidor
2006. s. 914-938
Nyckelord [en]
Aerial vehicles, Computational tractability, Laplacian control
Nationell ämneskategori
Data- och informationsvetenskap
Identifikatorer
URN: urn:nbn:se:kth:diva-58920Scopus ID: 2-s2.0-33845754489ISBN: 978-156347819-2 ISBN: 1563478196 (tryckt)OAI: oai:DiVA.org:kth-58920DiVA, id: diva2:474397
Konferens
AIAA, Guidance, Navigation and Control Conference, Keystone, CO, USA
Anmärkning
QC 20120117Tillgänglig från: 2012-01-09 Skapad: 2012-01-09 Senast uppdaterad: 2018-01-12Bibliografiskt granskad

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Anisi, DavidRobinson, John W.C.Ögren, Petter
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