Cart (Loading....) | Create Account
Close category search window
 

Model predictive unified planning and control of rotary-wing unmanned aerial vehicle

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

2 Author(s)
Kwangjin Yang ; Dept. of Aerosp. & Mech. Eng., Korea Air Force Acad., South Korea ; Sukkarieh, S.

This paper presents an integrated planning and control algorithm for the navigation of an autonomous rotary wing unmanned aerial vehicle (RUAV) in a cluttered environment. The model predictive control (MPC) combined with a potential field-like function integrates the planning and control in a single step. This strategy enables the generation of dynamically feasible motion because the planning is done in the action space of the RUAV. Moreover, it is able to respond promptly to abrupt changes in the environment because the reactive obstacle avoidance method only considers local sensory information. Finally, the shortsightedness of control-based reactive methods can be relieved by the larger planning horizon of the model predictive control. Simulation results show that the proposed integrated planning and control method can complete the navigation mission successfully in cluttered environment.

Published in:

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Date of Conference:

17-21 Oct. 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.