Path planning and optimal control strategies for unmanned aerial vehicles with bounded inputs

Amit Ailon, Ilan Zohar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

A simple approach has been established for solving suboptimal control problems in unmanned aerial vehicles with bounded inputs. The approach is based on trajectory parametrization for the constrained aerial vehicle control. The proposed framework for synthesizing the control algorithms employs the concept of polynomial controllability and the flatness property of the underlying physical model. In this framework the method of accomplishing the minimization is based on tools from the nonlinear dynamic programming theory, which can easily be implemented in real time computations.

Original languageEnglish
Title of host publication2010 IEEE 26th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2010
Pages104-108
Number of pages5
DOIs
StatePublished - 1 Dec 2010
Event2010 IEEE 26th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2010 - Eilat, Israel
Duration: 17 Nov 201020 Nov 2010

Publication series

Name2010 IEEE 26th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2010

Conference

Conference2010 IEEE 26th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2010
Country/TerritoryIsrael
CityEilat
Period17/11/1020/11/10

Keywords

  • Bounded input
  • Flatness
  • Optimal control
  • Path planning
  • Unmanned aerial vehicle

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