DocumentCode :
2295453
Title :
A new approach to trajectories planner design for a subsonic autonomous aerial fixed wing vehicle
Author :
Boukraa, D. ; Bestaoui, Y. ; Azouz, N.
Author_Institution :
Lab. Systemes Complexes, Evry
fYear :
2006
fDate :
14-16 June 2006
Abstract :
In this study, our aim is to propose an approach to generate the global trajectory an airplane must follow during its mission. In this approach, the problem of piloting an autonomous airplane is treated in two stages: generate and follow the reference trajectory. The first problem is rather an optimization problem with constraints; the second is a problem of control. Toward this aim, we decompose the global trajectory into a set of four elementary trajectories (horizontal level flight, climb, descent and horizontal turn). The second problem to be treated is the interconnection between these elementary trajectories. For this the airplane must follow a non trim trajectory. In this article, we start by defining the two dynamic constraints of equality type related to the under actuation (two differential equations), then we introduce the concept of (permanent) trim trajectories and the (transitional) non trim trajectories. Then, for the first type, we formulate an optimization problem with constraints, minimizing the necessary time for each elementary trajectory; for the transitional trajectories, we solve the equations of underactuation
Keywords :
aircraft control; differential equations; mobile robots; motion control; optimisation; position control; remotely operated vehicles; airplane trajectory; autonomous airplane; differential equations; optimization problem; permanent trajectories; reference trajectory; subsonic autonomous aerial fixed wing vehicle; trajectory planner design; transitional trajectories; Aerodynamics; Airplanes; Constraint optimization; Control systems; Mobile robots; Motion planning; Remotely operated vehicles; Trajectory; Unmanned aerial vehicles; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
Type :
conf
DOI :
10.1109/ACC.2006.1657508
Filename :
1657508
Link To Document :
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