Real-Time Optimized Trajectory Planning for a Fixed-Wing Vehicle Flying in a Dynamic Environment
Publication: Journal of Aerospace Engineering
Volume 22, Issue 4
Abstract
The problem of determining an optimal feasible trajectory, for a fixed wing flying vehicle moving in a dynamical three-dimensional 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 family 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 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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© 2009 ASCE.
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Received: Mar 23, 2007
Accepted: Sep 26, 2008
Published online: Sep 15, 2009
Published in print: Oct 2009
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