Time-Optimal Convergence to a Rectilinear Path in the Presence of Wind

Hota, Sikha and Ghose, Debasish (2014) Time-Optimal Convergence to a Rectilinear Path in the Presence of Wind. In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 74 (3-4). pp. 791-815.

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Abstract

This paper considers the problem of determining the time-optimal path of a fixed-wing Miniature Air Vehicle (MAV), in the presence of wind. The MAV, which is subject to a bounded turn rate, is required to eventually converge to a straight line starting from a known initial position and orientation. Earlier work in the literature uses Pontryagin's Minimum Principle (PMP) to solve this problem only for the no-wind case. In contrast, the present work uses a geometric approach to solve the problem completely in the presence of wind. In addition, it also shows how PMP can be used to partially solve the problem. Using a 6-DOF model of a MAV the generated optimal path is tracked by an autopilot consisting of proportional-integral-derivative (PID) controllers. The simulation results show the path generation and tracking for cases with steady and time-varying wind. Some issues on real-time path planning are also addressed.

Item Type:	Journal Article
Publication:	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Publisher:	SPRINGER
Additional Information:	Copyright for this article belongs to the SPRINGER, VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS
Keywords:	Dubins path; Straight line convergence in wind; Optimal path in wind; Path planning of MAV
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	27 Jun 2014 05:37
Last Modified:	27 Jun 2014 05:37
URI:	http://eprints.iisc.ac.in/id/eprint/49367

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