Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICSMC.2012.6378161
Title: Minimum-time trajectory planning for helicopter UAVs using computational dynamic optimization
Authors: Xu, N.
Kang, W.
Cai, G. 
Chen, B.M. 
Keywords: computational optimal control
Helicopter UAV
Minimum-time control
obstacle avoidance
Issue Date: 2012
Source: Xu, N.,Kang, W.,Cai, G.,Chen, B.M. (2012). Minimum-time trajectory planning for helicopter UAVs using computational dynamic optimization. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics : 2732-2737. ScholarBank@NUS Repository. https://doi.org/10.1109/ICSMC.2012.6378161
Abstract: In this paper, we apply pseudospectral optimal control, a computational algorithm of dynamic optimization, to the problem of helicopter UAV for minimum-time trajectory planning in the presence of obstacles. The problem is formulated as a nonlinear optimal control subject to the dynamics and limitations of helicopter UAVs, in which the obstacles are formulated as inequality constraints by using p-norms. The dynamical system is defined by a set of fifteen states nonlinear differential equations developed for HeLion, a helicopter UAV constructed in National University of Singapore (NUS). The problem does not have an analytic solution. We numerically solve the problem using a pseudospectral method. Various terrain scenarios were tested, from a single obstacle to multiple obstacles. We found bifurcation points of minimum-time trajectories near obstacles. The bifurcation points and their relationship with the distance to the obstacle are analyzed. © 2012 IEEE.
Source Title: Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
URI: http://scholarbank.nus.edu.sg/handle/10635/70950
ISBN: 9781467317146
ISSN: 1062922X
DOI: 10.1109/ICSMC.2012.6378161
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