He, Shaoming (Cranfield University), Shin, Hyo-Sang (Cranfield University), Tsourdos, Antonios (Cranfield University)

Optimal Guidance for Integrated Waypoint Following and Obstacle Avoidance

Scheduled for presentation during the Regular Session "Path Planning" (WeD32T1), Wednesday, November 27, 2019, 11:10−11:30, Room T1

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), November 25-27, 2019, Cranfield University, Cranfield, UK

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper addresses the problem of energy-optimal waypoint-following guidance for an Unmanned Aerial Vehicle with the consideration of arbitrary number of obstacles. The proposed guidance law is derived as a solution of a linear quadratic optimal control problem in conjunction with convex parameter optimization. The algorithm developed integrates path following and obstacle avoidance into a single step and is able to be applied to a general waypoint-following mission. Several particular cases of the proposed guidance law are presented to provide better insights of the proposed algorithm. Nonlinear numerical simulations clearly demonstrate the effectiveness of the proposed formulations.