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Euler–Lagrange as Pseudo-metric of the RRT algorithm for optimal-time trajectory of flight simulation model in high-density obstacle environment

Published online by Cambridge University Press:  14 December 2015

Mohammad Altaher Open the ORCID record for Mohammad Altaher [Opens in a new window]  and
Omaima Nomir
Mohammad Altaher*
Affiliation:
CS Department, University of Mansoura, Mansoura, Egypt.
Omaima Nomir
Affiliation:
CS Department, University of Mansoura, Mansoura, Egypt, IEEE member, E-mail: o.nomir@umiami.edu
*
*Corresponding author. E-mail: mohammad_altaher@yahoo.com
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Summary

This paper introduces a solution to the problem of steering an aerodynamical system, with non-holonomic constraints superimposed on dynamic equations of motion. The proposed approach is a dimensionality reduction of the Optimal Control Problem (OCP) with heavy path constraints to be solved by Rapidly-Exploring Random Tree (RRT) algorithm. In this research, we formulated and solved the OCP with Euler–Lagrange formula in order to find the optimal-time trajectory. The RRT constructs a non-collision path in static, high-dense obstacle environment (i.e. heavy path constraint). Based on a real-world aircraft model, our simulation results found the collision-free path and gave improvements of time and fuel consumption of the optimized Hamiltonian-based model over the original non-optimized model.

Keywords

Optimal trajectory generationRapidly-exploring random treeEuler-Lagrange equation
Type
Articles
Information
Robotica , Volume 35 , Issue 5 , May 2017 , pp. 1138 - 1156
Copyright
Copyright © Cambridge University Press 2015 

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