Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 16, Issue 6, Pages 1152-1168Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2008.917870
Keywords
Aircraft navigation; mobile robots; motion-planning; optimal control; real-time systems
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We present a novel planning strategy which is applicable to high performance unmanned aerial vehicles. The proposed approach takes as input a 3-D sequence of way-points connected by straight flight trim conditions, and smooths it in an optimal way with the goal of making it compatible with the vehicle dynamics. The smoothing step is achieved by selecting appropriate sequences of alternating trims and maneuvers from within a precomputed library of motion primitives. The resulting extremal trajectory is compatible with the vehicle and therefore trackable with small errors; furthermore, it is guaranteed to stay within the flight envelope boundary, alleviating the need for flight envelope protection systems. Yet it can be computed in real-time using closed-form expressions, all nonlinearities due to the vehicle model being confined to the stored library of motion primitives. The new method is demonstrated for the aggressive maneuvering of a helicopter.
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