By Topic

Experimental demonstration of an online trajectory optimization scheme using approximate spatial value functions

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Dadkhah, N. ; Dept. of Aerosp. Eng. & Mech., Univ. of Minnesota, Minneapolis, MN, USA ; Korukanti, V.R. ; Zhaodan Kong ; Mettler, B.

Receding Horizon (RH) control is an established control methodology which has been used successfully for many control applications. More recently it has been applied for autonomous vehicle guidance. Its successful implementation, in particular for applications involving agile vehicles like rotorcraft, hinges on two critical factors: (1) adequately accounting for the vehicle dynamics to guarantee that the trajectory is feasible and also that the capabilities of the vehicle are fully exploited; (2) using an appropriate cost-to-go (CTG) function to account for the discarded tail of the trajectory. In this paper we describe the experimental evaluation of a RH trajectory optimization scheme with a CTG function which approximates the value function associated with the minimum time optimal trajectory planning problem. The paper describes how the CTG function is computed; how the system is integrated; and finally describes the experimental demonstration of the guidance scheme. The experiments were performed in our Interactive Guidance and Control Laboratory which combines state of the art software architecture with a customized miniature helicopter.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009