| Full text | |
| Author(s): |
de Paiva, Ely Carneiro
;
Perazzo, Mariana Costa
;
Cordeiro, Rafael de Angelis
;
IEEE
Total Authors: 4
|
| Document type: | Journal article |
| Source: | 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021); v. N/A, p. 7-pg., 2021-01-01. |
| Abstract | |
This paper presents an optimal planning/guidance approach for a UAV point-to-point navigation in 2D, under wind influence, with the imposition of a general desired airspeed profile. A cost function weighting the travel time and the control effort is minimized through the Pontryagin's Minimum Principle. An analytical expression for the optimal heading to assure minimum-time flight is also derived. A general wind case in constrained path navigation is solved through an iterative procedure, using artificial potential fields. (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |