Control Based Motion Planning Exploiting Calculus of Variations and Rational Functions: A Formal Approach

Control Based Motion Planning Exploiting Calculus of Variations and Rational Functions: A Formal Approach

This paper presents a control-based trajectory generation approach for unmanned aerial vehicles (UAVs) under dynamic constraints. It exploits the concept of optimal control to find closed-form differential equations that satisfy any arbitrary dynamic limitation mapped into kinematic constraints. Pon...

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Bibliographic Details
Main Authors: Babak Salamat, Nunzio A. Letizia, Andrea M. Tonello
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Aerospace
optimal control
calculus of variations
steepest descent
function interpolation
dynamic interpolation
Online Access:https://ieeexplore.ieee.org/document/9525383/

Internet

https://ieeexplore.ieee.org/document/9525383/

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