Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimal Waypoint Guidance for Unmanned Aerial Vehicles (UAVs)

무인기를 위한 최적 경로점 유도

  • 유창경 (한국과학기술원 기계공학과 항공우주공학) ;
  • 신효상 (한국과학기술원 기계공학과 항공우주공학) ;
  • 탁민제 (한국과학기술원 기계공학과 항공우주공학)
  • Published : 2005.03.01
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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.

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References

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