ePrints@IIScePrints@IISc Home | About | Browse | Latest Additions | Advanced Search | Contact | Help

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.

[img] PDF
IEEE_Int_Con_Con_App_1030_2013 .pdf - Published Version
Restricted to Registered users only

Download (635Kb) | Request a copy
Official URL: http://dx.doi.org/10.1109/CCA.2013.6662887

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
Related URLs:
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.ernet.in/id/eprint/54581

Actions (login required)

View Item View Item