DocumentCode
181436
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
fYear
2014
fDate
14-17 Oct. 2014
Firstpage
17
Lastpage
21
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MSNMC.2014.6979718
Filename
6979718
Link To Document