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Time-Optimal Convergence to a Rectilinear Path in the Presence of Wind

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Abstract

This paper considers the problem of determining the time-optimal path of a fixed-wing Miniature Air Vehicle (MAV), in the presence of wind. The MAV, which is subject to a bounded turn rate, is required to eventually converge to a straight line starting from a known initial position and orientation. Earlier work in the literature uses Pontryagin’s Minimum Principle (PMP) to solve this problem only for the no-wind case. In contrast, the present work uses a geometric approach to solve the problem completely in the presence of wind. In addition, it also shows how PMP can be used to partially solve the problem. Using a 6-DOF model of a MAV the generated optimal path is tracked by an autopilot consisting of proportional-integral-derivative (PID) controllers. The simulation results show the path generation and tracking for cases with steady and time-varying wind. Some issues on real-time path planning are also addressed.

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Authors and Affiliations

  1. Department of Aerospace Engineering, Indian Institute of Science, Bangalore, India

    Sikha Hota & Debasish Ghose

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  1. Sikha Hota
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  2. Debasish Ghose
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Correspondence to Sikha Hota.

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Hota, S., Ghose, D. Time-Optimal Convergence to a Rectilinear Path in the Presence of Wind. J Intell Robot Syst 74, 791–815 (2014). https://doi.org/10.1007/s10846-013-9842-6

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  • DOI: https://doi.org/10.1007/s10846-013-9842-6

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