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Safe receding horizon control of an aerial vehicle
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
Department of Autonomous Systems Swedish Defence Research Agency.ORCID iD: 0000-0002-7714-928X
Department of Autonomous Systems Swedish Defence Research Agency.
2006 (English)In: PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, IEEE , 2006, 57-62 p.Conference paper (Refereed)
Abstract [en]

This paper addresses the problem of designing a real time high performance controller and trajectory generator for air vehicles. The control objective is to use information about terrain and enemy threats to fly low and avoid radar exposure on the way to a given target. The proposed algorithm builds on the well known approach of Receding Horizon Control (RHC) combined with a terminal cost, calculated from a graph representation of the environment. Using a novel safety maneuver, and under an assumption on the maximal terrain inclination, we are able to prove safety as well as task completion. The safety maneuver is incorporated in the short term optimization, which is performed using Nonlinear Programming (NLP). Some key characteristics of the trajectory planner are highlighted through simulations.

Place, publisher, year, edition, pages
IEEE , 2006. 57-62 p.
, IEEE Conference on Decision and Control, ISSN 0191-2216
Keyword [en]
Control systems, Helicopters, Mobile robots, Radar, Real time systems, Remotely operated vehicles, Trajectory, USA Councils, Unmanned aerial vehicles, Vehicle safety
National Category
Other Mathematics
URN: urn:nbn:se:kth:diva-42228DOI: 10.1109/CDC.2006.377657ISI: 000252251601033ScopusID: 2-s2.0-39649110333ISBN: 978-1-4244-0170-3OAI: diva2:446491
45th IEEE Conference on Decision and Control Location: San Diego, CA Date: DEC 13-15, 2006
QC 20111007Available from: 2011-10-07 Created: 2011-10-06 Last updated: 2011-11-21Bibliographically approved

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Anisi, David A.Ögren, Petter
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