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

Content Provider	IEEE Xplore Digital Library
Author	Dadkhah, N. Korukanti, V.R. Zhaodan Kong Mettler, B.
Copyright Year	2009
Description	Author affiliation: Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, 55455, USA (Dadkhah, N.; Zhaodan Kong; Mettler, B.) \|\| Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA (Korukanti, V.R.)
Abstract	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.
Starting Page	2978
Ending Page	2983
File Size	2577052
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400429
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Trajectory Mobile robots Navigation Fasteners Vehicle dynamics Tail Laboratories Software architecture Helicopters
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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