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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 | Citation: | 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 |
Appears in Collections: | Staff Publications |
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