Abstract:
In this paper, we present a numerical method for two-dimensional terrain following (TF) optimal trajectory regeneration. This method corrects the planned optimal trajecto...Show MoreMetadata
Abstract:
In this paper, we present a numerical method for two-dimensional terrain following (TF) optimal trajectory regeneration. This method corrects the planned optimal trajectory to avoid collision with previously unknown obstacles. Firstly, an optimal TF trajectory is acquired using Hp-adaptive Gaussian quadrature collocation method. Then, a neighboring optimum feedback law is presented for trajectory regeneration using a backward sweep method. Numerical simulations are provided to validate the effectiveness and demonstrate the features of the problem.
Date of Conference: 19-21 August 2019
Date Added to IEEE Xplore: 05 December 2019
ISBN Information: