Energy-optimal waypoint-following guidance considering autopilot dynamics

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dc.contributor.authorHe, Shaoming
dc.contributor.authorShin, Hyosang
dc.contributor.authorTsourdos, Antonios
dc.contributor.authorLee, Chang-Hun
dc.date.accessioned2020-02-06T19:39:15Z
dc.date.available2020-02-06T19:39:15Z
dc.date.issued2019-11-28
dc.description.abstractThis paper addresses the problem of energy-optimal waypoint-following guidance for an Unmanned Aerial Vehicle with the consideration of a general autopilot dynamics model. The proposed guidance law is derived as a solution of a linear quadratic optimal control problem in conjunction with a linearized kinematics model. The algorithm developed integrates path planning and following into a single step and is able to be applied to a general waypoint-following mission. Theoretical analysis reveals that previously suggested optimal point-to-point guidance laws are special cases of the proposed approach. Nonlinear numerical simulations clearly demonstrate the effectiveness of the proposed formulations.en_UK
dc.identifier.citationHe S, Shin H-S, Tsourdos A, Lee C-H. (2020) Energy-optimal waypoint-following guidance considering autopilot dynamics. IEEE Transactions on Aerospace and Electronic Systems, Volume 56, Issue 4, August 2020, pp. 2701-2717en_UK
dc.identifier.issn0018-9251
dc.identifier.urihttps://doi.org/10.1109/TAES.2019.2954149
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/15104
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectUnmanned aerial vehicleen_UK
dc.subjectWaypoint followingen_UK
dc.subjectEnergy optimalen_UK
dc.subjectAutopilot lagen_UK
dc.titleEnergy-optimal waypoint-following guidance considering autopilot dynamicsen_UK
dc.typeArticleen_UK

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