A Modified Dubins Method for Optimal Path Planning of a Miniature Air Vehicle Converging to a Straight Line Path

Hota, Sikha and Ghose, Debasish (2009) A Modified Dubins Method for Optimal Path Planning of a Miniature Air Vehicle Converging to a Straight Line Path. In: 2009 American Control Conference, June 10-12, 2009, Hyatt Regency Riverfront, St. Louis, MO, USA, pp. 2397-2402.

PDF fulltext.pdf - Published Version Restricted to Registered users only Download (355kB) | Request a copy

Abstract

This paper presents a Dubins model based strategy to determine the optimal path of a Miniature Air Vehicle (MAV), constrained by a bounded turning rate, that would enable it to fly along a given straight line, starting from an arbitrary initial position and orientation. The method is then extended to meet the same objective in the presence of wind which has a magnitude comparable to the speed of the MAV. We use a modification of the Dubins' path method to obtain the complete optimal solution to this problem in all its generality.

Item Type:	Conference Paper
Series.:	PROCEEDINGS OF THE AMERICAN CONTROL CONFERENCE
Publisher:	IEEE
Additional Information:	.Copyright 2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	08 Jan 2010 07:29
Last Modified:	19 Sep 2010 05:49
URI:	http://eprints.iisc.ac.in/id/eprint/24238

Actions (login required)

View Item