Title :
Optimal UAV path planning based on decomposition and spatial lead
Author :
Larin, V.B. ; Tunik, A.A.
Author_Institution :
Dept. of Complex Syst. Dynamics, Inst. of Mech., Kiev, Ukraine
Abstract :
The problem of the UAV path planning for given set of the waypoints avoiding requirements of differentiability of the program signal is considered. This problem is solved by the methods of non-holonomic mechanics via usage of decomposition, spatial lead and optimization of the quadratic performance index. Efficiency of this approach is illustrated by example.
Keywords :
autonomous aerial vehicles; optimisation; path planning; performance index; decomposition; nonholonomic mechanics; optimal UAV path planning; program signal differentiability; quadratic performance index optimization; spatial lead; unmanned aerial vehicles; waypoints; Conferences; Equations; Mathematical model; Navigation; Path planning; Tracking; coordinated turn; decomposition; optimization; spatial lead; tracking sytem; unmanned aerial vehicles;
Conference_Titel :
Methods and Systems of Navigation and Motion Control (MSNMC), 2014 IEEE 3rd International Conference on
Conference_Location :
Kiev
Print_ISBN :
978-1-4799-6578-6
DOI :
10.1109/MSNMC.2014.6979718
