Abstract
The problem of determining an optimal feasible trajectory, for a fixed wing flying UAV moving in a dynamical 3-D space, is addressed in this paper, and an analytical solution is proposed. With explicitly considering the boundary conditions and kinematic constraints as well as by satisfying the collision avoidance criterions, trajectories are described in terms of three parameterized polynomials, and the families of feasible trajectories are found. Then, the desired near shortest trajectory is chosen from the feasible trajectories by optimizing a performance index with respect to L2 norm. This trajectory and its associated steering controls are achieved analytically. Computer simulations validate that this approach is computationally efficient and real-time implementable.
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© 2012 Springer-Verlag Berlin Heidelberg
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Yang, J., Dong, M., Tang, Y. (2012). A Real-Time Optimized Trajectory Planning for a Fixed Wing UAV. In: Jin, D., Lin, S. (eds) Advances in Mechanical and Electronic Engineering. Lecture Notes in Electrical Engineering, vol 176. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31507-7_46
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DOI: https://doi.org/10.1007/978-3-642-31507-7_46
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31506-0
Online ISBN: 978-3-642-31507-7
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