Agile autonomous guidance using spatial value functionsOriginal Research Article

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1、ARTICLEINPRESSControlEngineeringPractice18(2010)773–788ContentslistsavailableatScienceDirectControlEngineeringPracticejournalhomepage:www.elsevier.com/locate/conengpracAgileautonomousguidanceusingspatialvaluefunctionsB.Mettler,N.Dadkhah,Z.KongDepartmentofAerospaceEng

2、ineeringandMechanics,UniversityofMinnesota,110UnionStreetSE,Minneapolis,MN,USAarticleinfoabstractArticlehistory:Thispaperdescribesanautonomousguidancesystembasedonrecedinghorizon(RH)optimization.Received2April2009Thesystemisintegratedaroundaspatial,state-dependentcost

3、-to-go(SVF)functionthatiscomputedAccepted24February2010asanapproximationtothevaluefunctionassociatedwiththeoptimaltrajectoryplanningproblem.Availableonline18April2010Thefunctioncapturesthecriticalinteractionbetweenthevehicledynamicsandenvironment,therebyKeywords:resul

4、tingintightercouplingbetweenplanningandcontrol.TheconsistencyachievedbetweentheRHUAVoptimizationandtheSVFenablesamorerigorousimplementationoftheRHframeworktoautonomousAutonomyvehicleguidance.ThepaperdescribestheoverallapproachalongflightexperimentalresultsobtainedinGui

5、danceanInteractiveGuidanceandControlLaboratory.Optimization&2010ElsevierLtd.Allrightsreserved.TrajectoryCost-to-go1.Introductionwithsmallersize,thereareconstraintsoncomputationalpowerandtheselectionofsensors.Furthermore,newconceptsofTheautonomouscontrolofagileaerialve

6、hiclesposesseveraloperationdemandmoreversatilityinthefaceofchangingmissionchallengesthatarenotaddressedsatisfactorilybyexistingandenvironmentspecifications,adaptabilitytounforeseeableaerospaceorroboticmotionplanningtechniques.Themainoneseventsintheimmediateandbroaderen

7、vironment,andgoodincludebeingabletoexplicitlyaccountforvehicledynamicstooverallcontrolperformanceandrobustnessinadverseoperatingguaranteeafeasibletrajectoryandtoensurethatthevehicle’sconditions.Efficientguidancealgorithms,thatcanupdatethecapabilitiesarefullyexploited;t

8、ightintegrationbetweenplan-trajectoryonlineinresponsetobothsensorydataandtaskningandcontroltoensuresafetyandmaximizeperforma