TY - GEN
T1 - Experimental demonstration of an online trajectory optimization scheme using approximate spatial value functions
AU - Dadkhah, Navid
AU - Korukanti, Venkateshwar R.
AU - Kong, Zhaodan
AU - Mettler May, Berenice F
PY - 2009
Y1 - 2009
N2 - Receding Horizon (RH) control is an established control methodology which has been used successfully for many control applications. More recently it has been applied for autonomous vehicle guidance. Its successful implementation, in particular for applications involving agile vehicles like rotorcraft, hinges on two critical factors: 1) adequately accounting for the vehicle dynamics to guarantee that the trajectory is feasible and also that the capabilities of the vehicle are fully exploited; 2) using an appropriate cost-to-go (CTG) function to account for the discarded tail of the trajectory. In this paper we describe the experimental evaluation of a RH trajectory optimization scheme with a CTG function which approximates the value function associated with the minimum time optimal trajectory planning problem. The paper describes how the CTG function is computed; how the system is integrated; and finally describes the experimental demonstration of the guidance scheme. The experiments were performed in our Interactive Guidance and Control Laboratory which combines state of the art software architecture with a customized miniature helicopter.
AB - Receding Horizon (RH) control is an established control methodology which has been used successfully for many control applications. More recently it has been applied for autonomous vehicle guidance. Its successful implementation, in particular for applications involving agile vehicles like rotorcraft, hinges on two critical factors: 1) adequately accounting for the vehicle dynamics to guarantee that the trajectory is feasible and also that the capabilities of the vehicle are fully exploited; 2) using an appropriate cost-to-go (CTG) function to account for the discarded tail of the trajectory. In this paper we describe the experimental evaluation of a RH trajectory optimization scheme with a CTG function which approximates the value function associated with the minimum time optimal trajectory planning problem. The paper describes how the CTG function is computed; how the system is integrated; and finally describes the experimental demonstration of the guidance scheme. The experiments were performed in our Interactive Guidance and Control Laboratory which combines state of the art software architecture with a customized miniature helicopter.
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U2 - 10.1109/CDC.2009.5400429
DO - 10.1109/CDC.2009.5400429
M3 - Conference contribution
AN - SCOPUS:77950805279
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2978
EP - 2983
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Y2 - 15 December 2009 through 18 December 2009
ER -