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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ick Ho Whang Tae Won Hwang |
| Copyright Year | 1965 |
| Abstract | A horizontal waypoint guidance algorithm is proposed by applying line-following guidance to waypoint line segments in sequence. The line-following guidance is designed using an LQR (linear quadratic regulator). Then, the optimal waypoint changing points are derived by minimizing the accelerations required for changing the waypoint line segments. Also derived is a sufficient condition for the stability bound of ground speed changes based on the Lyapunov stability theorem. Simulation results show that the proposed algorithm can effectively guide a vehicle along the sequence of waypoint line segments. |
| Starting Page | 1116 |
| Ending Page | 1120 |
| Page Count | 5 |
| File Size | 128660 |
| File Format | |
| ISSN | 00189251 |
| Volume Number | 38 |
| Issue Number | 3 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2002-07-01 |
| Publisher Place | U.S.A. |
| Access Restriction | One Nation One Subscription (ONOS) |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Optimal control Navigation Vehicles Acceleration Stability analysis Regulators Sufficient conditions Algorithm design and analysis Lyapunov method Kinematics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering Aerospace Engineering |
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