| Texto completo | |
| Autor(es): |
de Paiva, Ely Carneiro
;
Perazzo, Mariana Costa
;
Cordeiro, Rafael de Angelis
;
IEEE
Número total de Autores: 4
|
| Tipo de documento: | Artigo Científico |
| Fonte: | 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021); v. N/A, p. 7-pg., 2021-01-01. |
| Resumo | |
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) | |
| Processo FAPESP: | 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente |
| Beneficiário: | Marco Henrique Terra |
| Modalidade de apoio: | Auxílio à Pesquisa - Temático |