NDLI: Model predictive control based trajectory optimization for nap-of-the-earth (NOE) flight including obstacle avoidance

Content Provider	IEEE Xplore Digital Library
Author	Lapp, T. Singh, L.
Copyright Year	2004
Description	Author affiliation: Massachusetts Inst. of Technol., USA (Lapp, T.; Singh, L.)
Abstract	This work presents a model predictive control based trajectory optimization method for nap-of-the-earth (NOE) flight including obstacle avoidance, emphasizing the mission objective of low altitude at high speed. A NOE trajectory reference is generated over a subspace of the terrain. It is then inserted into the cost function and the resulting trajectory tracking error term is weighted for more precise longitudinal tracking than lateral tracking through the introduction of the TF/TA ratio. Obstacle avoidance including preclusion of ground collision is accomplished through the establishment of hard state constraints. These state constraints create a 'safe envelope' within which the optimal trajectory can be found. Steps are taken to reduce complexity in the optimization problem including perturbational linearization in the prediction model generation and the use of control basis functions. Preliminary results over a variety of sample terrains are provided to show the mission objective of low altitude and high speed was met satisfactorily without terrain or obstacle collision, however, methods to preclude or deal with infeasibility must be investigated as speed is increased to and past 30 knots.
Sponsorship	American Automatic Control Council IFAC
Starting Page	891
Ending Page	896
File Size	518534
Page Count	6
File Format	PDF
ISBN	0780383354
ISSN	07431619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Predictive models Predictive control Trajectory Cost function Vehicle dynamics Optimal control Optimization methods Remotely operated vehicles Unmanned aerial vehicles Counting circuits
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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