Real-time dynamic trajectory smoothing for unmanned air vehicles

被引：107

作者：

Anderson, EP ^{[1
]}

Beard, RW

McLain, TW

机构：

[1] Stanford Univ, Dept Elect Engn, Stanford, CA 94305 USA

[2] Brigham Young Univ, Dept Elect & Comp Engn, Provo, UT 84602 USA

[3] Brigham Young Univ, Dept Mech Engn, Provo, UT 84602 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2005年 / 13卷 / 03期

关键词：

autonomous systems; optimal control; path planning; trajectory generation; unmanned air vehicles (UAVs);

D O I：

10.1109/TCST.2004.839555

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This brief presents a real-time, feasible trajectory generation algorithm for unmanned air vehicles (UAVs) flying through a sequence of waypoints. The algorithm produces extremal trajectories that transition between straight-line path segments in a time-optimal fashion. In addition, the algorithm can be configured so that the dynamically feasible trajectory has the same path length as the straight-line waypoint path. Implementation issues associated with the algorithm are described in detail. Simulation studies show the effectiveness of the proposed method.

引用

页码：471 / 477

页数：7

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