Constrained Path Planning and Guidance in General Wind Fields

Ely Carneiro de Paiva; Mariana Costa Perazzo; Rafael de Angelis Cordeiro

ICRA 2021poster0 citations

Constrained Path Planning and Guidance in General Wind Fields

Ely Carneiro de Paiva, Mariana Costa Perazzo, Rafael de Angelis Cordeiro

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.

BibTeX

@inproceedings{icra2021_constrainedpathp,
  title = {Constrained Path Planning and Guidance in General Wind Fields},
  author = {Ely Carneiro de Paiva and Mariana Costa Perazzo and Rafael de Angelis Cordeiro},
  booktitle = {ICRA 2021},
  year = {2021}
}