Three-Dimensional Trajectory Optimization Satisfying Waypoint and No-Fly Zone Constraints

Jorris, Timothy R.; Cobb, Richard

doi:10.2514/1.37030

Cited by 187 publications

(98 citation statements)

References 27 publications

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“…No-fly zones 16 are particular regions where aircrafts are not permitted (for reasons such as environmental sensitivity, politically prohibited areas, etc). Because there may be multiple no-fly zones, each one is indexed as j.…”

Section: No-fly Zonesmentioning

confidence: 99%

“…Waypoints 16 are specified positions to fly over to meet reconnaissance mission requirements during the flight. They are used mainly as tags to complete particular tasks.…”

Section: Waypointsmentioning

confidence: 99%

“…The coordinates of the no-fly zone center are (11,14), and R = 2 m with no limitation on altitude. The quadrotor is required to pass waypoint-1 (5,8,10), and waypoint-2 (16,16,16) with specific attitude and velocity requirements. In detail, the quadrotor optimal control can be described to minimize the cost functional: …”

Section: Trajectory Generationmentioning

confidence: 99%

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A multiphase DMOC‐based trajectory optimization method

Zhang

Wang

Inanc

2017

Optim Control Appl Methods

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SummaryDiscrete mechanics and optimal control (DMOC) is a methodology that takes advantage of variational structure to solve certain optimal control problems for mechanical systems. This paper proposes to combine a multiphase strategy with the original DMOC method, resulting in a new multiphase DMOC (MDMOC) method and making optimal trajectory generation more efficient. The advantages of the proposed method are demonstrated mathematically, and in addition, a quadrotor, unmanned aerial vehicle, simulation example is presented to show its superiority over the DMOC method. Furthermore, to show its potential application, an arbitrarily chosen controller was used to track the desired trajectory generated by MDMOC. This new MDMOC methodology can also be applied to other mechanical systems such as mobile robots and underwater gliders.KEYWORDS discrete mechanics and optimal control, optimal control applications, quadrotor, trajectory optimization | INTRODUCTIONRobotic vehicles are becoming increasingly popular because of their great flexibility and mobility. They are widely used in military, civilian, commercial, and many other fields. Traditionally, robotic vehicles can be categorized into 4 main types: underwater robots, land mobile robots, unmanned aircraft, and space robots. Recently, small unmanned aerial vehicles (UAVs), as a kind of self-propelled aerial robot, have attracted widespread research attention because of their potential applications, including reconnaissance, surveillance, search and rescue, and environmental monitoring.In practice, it is always preferable for UAVs to generate a real-time trajectory, which is the foundation of reconnaissance, exploration, or tracking missions. However, due to their limited payload, it is essential to plan the optimal trajectory to achieve minimum time and/or minimum energy objectives.1 Therefore, an efficient trajectory optimization method and corresponding tracking controller design are indispensable. Generally, trajectory optimization can be considered as an optimal control problem. 2 Many kinds of optimization algorithm have been proposed for different systems. Betts 3 presented a survey showing that numerical methods for solving optimal trajectory problems can normally be classified into 2 categories: indirect and direct. Direct methods have been widely used by transforming a continuous optimal control problem into a nonlinear programming (NLP) problem. 4 Bouktir et al 5 presented a numerical method to generate a minimum-time optimal trajectory for a quadrotor with nonlinear under-actuated properties; Ross et al 2 proposed a guess-free spectral algorithm with several limiting assumptions in which the problem must be reasonably bounded and scaled; Chamseddine et al 6 applied a planning/replanning strategy to a quadrotor and illustrated the simplicity and efficiency of the method. All these approaches can solve the specified problems with relative efficiency. However, they are applicable only to trajectory optimization problems for certain specific simple mechanical...

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Section: No-fly Zonesmentioning

confidence: 99%

“…Waypoints 16 are specified positions to fly over to meet reconnaissance mission requirements during the flight. They are used mainly as tags to complete particular tasks.…”

Section: Waypointsmentioning

confidence: 99%

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A multiphase DMOC‐based trajectory optimization method

Zhang

Wang

Inanc

2017

Optim Control Appl Methods

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“…ρ is mass density of air. HGV is designed based on the high-lift common aerodynamic vehicles (CAV-H) [18] so we can study the HGV aerodynamic model using the CAV-H aerodynamic parameters: m = 908 kg, S M = 0.484 m 2 . Based on the U.S. Standard Atmosphere, 1976(USSA1976) [19], the mass density of air denoted as ρ and the sound speed a can be functions of height as…”

Section: Hgv Aerodynamic Modelmentioning

confidence: 99%

A Cost-Effective Tracking Algorithm for Hypersonic Glide Vehicle Maneuver Based on Modified Aerodynamic Model

2016

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Abstract:In order to defend the hypersonic glide vehicle (HGV), a cost-effective single-model tracking algorithm using Cubature Kalman filter (CKF) is proposed in this paper based on modified aerodynamic model (MAM) as process equation and radar measurement model as measurement equation. In the existing aerodynamic model, the two control variables attack angle and bank angle cannot be measured by the existing radar equipment and their control laws cannot be known by defenders. To establish the process equation, the MAM for HGV tracking is proposed by using additive white noise to model the rates of change of the two control variables. For the ease of comparison several multiple model algorithms based on CKF are presented, including interacting multiple model (IMM) algorithm, adaptive grid interacting multiple model (AGIMM) algorithm and hybrid grid multiple model (HGMM) algorithm. The performances of these algorithms are compared and analyzed according to the simulation results. The simulation results indicate that the proposed tracking algorithm based on modified aerodynamic model has the best tracking performance with the best accuracy and least computational cost among all tracking algorithms in this paper. The proposed algorithm is cost-effective for HGV tracking.

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“…Because propulsion system limitations on board a small spacecraft make the assumption of impulsive thrust unrealistic, in this research we consider the problem of moderate finite-thrust aeroassisted orbital transfer of a small spacecraft with a mass of approximately 1000 kg (see Refs. [20][21][22][23].…”

mentioning

confidence: 99%

A Preliminary Analysis of Small Spacecraft Finite-Thrust Aeroassisted Orbital Transfer

Rao

2012

AIAA/AAS Astrodynamics Specialist Conference

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The problem of finite-thrust small spacecraft minimum-fuel heat rateconstrained aeroassisted orbital transfer between two low-Earth orbits with inclination change is considered. The trajectory design for a vehicle of small mass and moderate thrust is described in detail and the aeroassisted orbital transfer is posed as a nonlinear optimal control problem. The optimal control problem is solved using a previously developed open-source pseudospectral optimal control software. It is found for heating rate-unconstrained cases that the fuel consumption is insensitive to the number of atmospheric passes, whereas for heating rate-constrained cases the fuel consumption decreases as a function of the number of atmospheric passes. The key features of the optimal trajectories are identified. The result of this research demonstrates the efficiency of an aeroassisted orbital transfer as compared with an all-propulsive transfer and show the more realistic results obtained when compared with an aeroassisted orbital transfer where it is assumed that the thrust is impulsive.

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Three-Dimensional Trajectory Optimization Satisfying Waypoint and No-Fly Zone Constraints

Cited by 187 publications

References 27 publications

A multiphase DMOC‐based trajectory optimization method

A multiphase DMOC‐based trajectory optimization method

A Cost-Effective Tracking Algorithm for Hypersonic Glide Vehicle Maneuver Based on Modified Aerodynamic Model

A Preliminary Analysis of Small Spacecraft Finite-Thrust Aeroassisted Orbital Transfer

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