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Optimal Trajectory Generation for Convergence to a Rectilinear Path

Hota, Sikha and Ghose, Debasish (2014) Optimal Trajectory Generation for Convergence to a Rectilinear Path. In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 75 (2). pp. 223-242.

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Official URL: http://dx.doi.org/10.1007/s10846-013-9863-1

Abstract

This paper presents a strategy to determine the shortest path of a fixed-wing Miniature Air Vehicle (MAV), constrained by a bounded turning rate, to eventually fly along a given straight line, starting from an arbitrary but known initial position and orientation. Unlike the work available in the literature that solves the problem using the Pontryagin's Minimum Principle (PMP) the trajectory generation algorithm presented here considers a geometrical approach which is intuitive and easy to understand. This also computes the explicit solution for the length of the optimal path as a function of the initial configuration. Further, 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 different cases.

Item Type: Journal Article
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Additional Information: copyright of this article belongs to SPRINGER, NETHERLANDS.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 19 Aug 2014 10:34
Last Modified: 19 Aug 2014 10:34
URI: http://eprints.iisc.ernet.in/id/eprint/49581

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