Time-Optimal Convergence to a Rectilinear Path in the Presence of Wind
Data(s) |
2014
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Resumo |
This paper considers the problem of determining the time-optimal path of a fixed-wing Miniature Air Vehicle (MAV), in the presence of wind. The MAV, which is subject to a bounded turn rate, is required to eventually converge to a straight line starting from a known initial position and orientation. Earlier work in the literature uses Pontryagin's Minimum Principle (PMP) to solve this problem only for the no-wind case. In contrast, the present work uses a geometric approach to solve the problem completely in the presence of wind. In addition, it also shows how PMP can be used to partially solve the problem. Using a 6-DOF model of a MAV the generated optimal path is tracked by an autopilot consisting of proportional-integral-derivative (PID) controllers. The simulation results show the path generation and tracking for cases with steady and time-varying wind. Some issues on real-time path planning are also addressed. |
Formato |
application/pdf |
Identificador |
http://eprints.iisc.ernet.in/49367/1/jou_int_rob_sys_74-3-4_791_2014.pdf Hota, Sikha and Ghose, Debasish (2014) Time-Optimal Convergence to a Rectilinear Path in the Presence of Wind. In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 74 (3-4). pp. 791-815. |
Publicador |
SPRINGER |
Relação |
http://dx.doi.org/10.1007/s10846-013-9842-6 http://eprints.iisc.ernet.in/49367/ |
Palavras-Chave | #Aerospace Engineering (Formerly, Aeronautical Engineering) |
Tipo |
Journal Article PeerReviewed |