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Curvature-constrained trajectory generation for waypoint following for miniature air vehicle

Hota, Sikha and Ghose, Debasish (2014) Curvature-constrained trajectory generation for waypoint following for miniature air vehicle. In: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 228 (11). pp. 2066-2082.

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Official URL: http://dx.doi.org/ 10.1177/0954410013512762


This paper addresses trajectory generation problem of a fixed-wing miniature air vehicle, constrained by bounded turn rate, to follow a given sequence of waypoints. An extremal path, named as g-trajectory, that transitions between two consecutive waypoint segments (obtained by joining two waypoints in sequence) in a time-optimal fashion is obtained. This algorithm is also used to track the maximum portion of waypoint segments with the desired shortest distance between the trajectory and the associated waypoint. Subsequently, the proposed trajectory is compared with the existing transition trajectory in the literature to show better performance in several aspects. Another optimal path, named as loop trajectory, is developed for the purpose of tracking the waypoints as well as the entire waypoint segments. This paper also proposes algorithms to generate trajectories in the presence of steady wind to meet the same objective as that of no-wind case. Due to low computational burden and simplicity in the design procedure, these trajectory generation approaches are implementable in real time for miniature air vehicles.

Item Type: Journal Article
Additional Information: Copy right for this article belongs to the SAGE PUBLICATIONS LTD, 1 OLIVERS YARD, 55 CITY ROAD, LONDON EC1Y 1SP, ENGLAND
Keywords: Two-dimensional Dubins path; waypoint following in two-dimensional; optimal trajectory in wind
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Depositing User: Id for Latest eprints
Date Deposited: 14 Nov 2014 07:28
Last Modified: 14 Nov 2014 07:28
URI: http://eprints.iisc.ac.in/id/eprint/50275

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