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Optimal trajectory planning for path convergence in three-dimensional space

Hota, Sikha and Ghose, Debasish (2014) Optimal trajectory planning for path convergence in three-dimensional space. In: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 228 (5). pp. 766-780.

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Official URL: http://dx.doi.org/10.1177/0954410013479714

Abstract

This article addresses the problem of determining the shortest path that connects a given initial configuration (position, heading angle, and flight path angle) to a given rectilinear or a circular path in three-dimensional space for a constant speed and turn-rate constrained aerial vehicle. The final path is assumed to be located relatively far from the starting point. Due to its simplicity and low computational requirements the algorithm can be implemented on a fixed-wing type unmanned air vehicle in real time in missions where the final path may change dynamically. As wind has a very significant effect on the flight of small aerial vehicles, the method of optimal path planning is extended to meet the same objective in the presence of wind comparable to the speed of the aerial vehicles. But, if the path to be followed is closer to the initial point, an off-line method based on multiple shooting, in combination with a direct transcription technique, is used to obtain the optimal solution. Optimal paths are generated for a variety of cases to show the efficiency of the algorithm. Simulations are presented to demonstrate tracking results using a 6-degrees-of-freedom model of an unmanned air vehicle.

Item Type: Journal Article
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Additional Information: Copyright for this article belongs to the SAGE PUBLICATIONS LTD, 1 OLIVERS YARD, 55 CITY ROAD, LONDON EC1Y 1SP, ENGLAND
Keywords: shortest path; 3D rectilinear path following; 3D circular path following; 3D Dubins path
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 07 Apr 2014 11:34
Last Modified: 07 Apr 2014 11:34
URI: http://eprints.iisc.ernet.in/id/eprint/48819

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