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Integrated motion planning and trajectory control system for unmanned air vehicles

Karimi, J ; Sharif University of Technology | 2013

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  1. Type of Document: Article
  2. DOI: 10.1177/0954410011432244
  3. Publisher: 2013
  4. Abstract:
  5. Motion planning and trajectory control are two basic challenges of unmanned vehicles. In motion planning problem, feasible trajectories are developed while nonlinear dynamic model and performance constraints of the vehicle under utility are considered. In this study, motion planning is performed via an enhanced particle swarm optimization algorithm. The resulting offline generated trajectories are tracked using a nonlinear trajectory control system methodology. The Lyapunov-based constrained backstepping approach and command filters are utilized in designing the trajectory control system. Command filters smoothen the input signals and provide their derivatives. Evaluation of the proposed integrated approach in several simulated scenarios has effectively demonstrated the potential of both algorithms in generating optimal contour matching trajectories as well as excellent tracking capability of the trajectory control system
  6. Keywords:
  7. Trajectory control system ; Backstepping approach ; Command filters ; Contour matching ; Enhanced particle swarm optimization ; Integrated approach ; Integrated motion planning ; maneuver automaton ; Motion planning problems ; Offline ; Performance constraints ; Tracking capability ; Trajectory control ; Trajectory control systems ; Unmanned air vehicle (UAVs) ; Algorithms ; Automata theory ; Control systems ; Particle swarm optimization (PSO) ; Trajectories ; Motion planning
  8. Source: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering ; Volume 227, Issue 1 , 2013 , Pages 3-18 ; 09544100 (ISSN)
  9. URL: http://pig.sagepub.com/content/227/1/3