Optimal Transition Trajectory for Waypoint Following

Hota, Sikha and Ghose, Debasish (2013) Optimal Transition Trajectory for Waypoint Following. In: IEEE International Conference on Control Applications (CCA), AUG 28-30, 2013 , Hyderabad, INDIA , pp. 1030-1035.

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Abstract

This paper discusses the problem of a turn-rate constrained vehicle, such as a fixed-wing MAV (miniature air vehicle) required to fly along the path defined by a series of waypoints. An extremal path, named as gamma-trajectory, that transitions between two consecutive waypoint segments (obtained by joining two waypoints in sequence) in a timeoptimal 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 existing transition trajectory in the literature to show better performance in several aspects.

Item Type:	Conference Proceedings
Series.:	IEEE International Conference on Control Applications
Publisher:	IEEE, NEW YORK
Additional Information:	Copy right for this article belongs to the IEEE International Conference on Control Applications (CCA), Hyderabad, INDIA, AUG 28-30, 2013
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	24 Aug 2016 10:29
Last Modified:	24 Aug 2016 10:29
URI:	http://eprints.iisc.ac.in/id/eprint/54581

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