Online Waypoint Trajectory Generation Using State-Dependent Riccati Equation

No AccessEngineering NotesOnline Waypoint Trajectory Generation Using State-Dependent Riccati EquationOmkar Halbe and Manfred HajekOmkar HalbeTechnical University of Munich, 85748 Garching, Germany and Manfred HajekTechnical University of Munich, 85748 Garching, GermanyPublished Online:15 Sep 2019https://doi.org/10.2514/1.G003774SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations ShareShare onFacebookTwitterLinked InRedditEmail About References [1] Goerzen C., Kong Z. and Mettler B., "A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance," Journal of Intelligent and Robotic Systems, Vol. 57, No. 1, Nov. 2009, pp. 65–100. doi:https://doi.org/10.1007/s10846-009-9383-1 Google Scholar[2] Kendoul F., "Survey of Advances in Guidance, Navigation, and Control of Unmanned Rotorcraft Systems," Journal of Field Robotics, Vol. 29, No. 2, Jan. 2012, pp. 315–378. doi:https://doi.org/10.1002/rob.20414 CrossrefGoogle Scholar[3] Hoffmann G., Waslander S. and Tomlin C., "Quadrotor Helicopter Trajectory Tracking Control," AIAA Guidance, Navigation and Control Conference, AIAA Paper 2008-7410, Aug. 2008. doi:https://doi.org/10.2514/6.2008-7410 Google Scholar[4] Choudhury S. and Scherer S., "The Dynamics Projection Filter (DPF)—Real-Time Nonlinear Trajectory Optimization Using Projection Operators," IEEE International Conference on Robotics and Automation, IEEE Publ., Piscataway, NJ, May 2015, pp. 644–649. doi:https://doi.org/10.1109/ICRA.2015.7139247 Google Scholar[5] Beul M. and Behnke S., "Analytical Time-Optimal Trajectory Generation and Control for Multirotors," IEEE International Conference on Unmanned Aircraft Systems, IEEE Publ., Piscataway, NJ, July 2016, pp. 87–96. doi:https://doi.org/10.1109/ICUAS.2016.7502532 Google Scholar[6] Mellinger D. and Kumar V., "Minimum Snap Trajectory Generation and Control for Quadrotors," IEEE International Conference on Robotics and Automation, IEEE Publ., Piscataway, NJ, May 2011, pp. 2520–2525. doi:https://doi.org/10.1109/ICRA.2011.5980409 Google Scholar[7] Bry A., Richter C., Bachrach A. and Roy N., "Aggressive Flight of Fixed-Wing and Quadrotor Aircraft in Dense Indoor Environments," The International Journal of Robotics Research, Vol. 34, No. 7, March 2015, pp. 969–1002. doi:https://doi.org/10.1177/0278364914558129 CrossrefGoogle Scholar[8] Shekhar R. 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Google Scholar[22] Butter U., Spiess C. and Hajek M., "Control Laws with Direct Flight Path Control for Helicopters," AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2018-1344, Jan. 2018. doi:https://doi.org/10.2514/6.2018-1344 Google Scholar Previous article Next article FiguresReferencesRelatedDetailsCited byA State-Dependent Riccati Equation-Based Robust Control Approach for Nonlinear Systems with Parametric UncertaintiesSimultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft SystemsRapid 3D Trajectory Planning Under State Constraints Using Receding Horizon PSO Algorithm30 October 2021Cooperative Target Capture Using Relative Separation for Three-Dimensional EngagementIEEE Transactions on Aerospace and Electronic Systems, Vol. 57, No. 5Computationally Efficient SDRE Control Design for 3-DOF Helicopter Benchmark SystemIEEE Transactions on Aerospace and Electronic Systems, Vol. 57, No. 5AĞIRLIK MATRİSLERİNİN 3-SD HELİKOPTERİN DDRD TABANLI KONTROL METODU ÜZERİNE ETKİLERİ1 September 2021 | Konya Journal of Engineering SciencesComputational Flight Path Analysis of a Helicopter in an Offshore Wind Farm using a Lattice-Boltzmann MethodBastian Horvat, Manfred Hajek and Juergen Rauleder4 January 2021Lead-Angle-Based Three-Dimensional Guidance for Angle-Constrained InterceptionRohit V. 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TopicsAircraft Components and StructureAircraft DesignAircraft Operations and TechnologyAircraft Stability and ControlAircraft StabilizerAircraft Wing DesignAircraftsFlight Control SurfacesHelicopter Flight ControlsHelicoptersQuadcopterRotorcraftsUnmanned Aerial Vehicle KeywordsState Dependent Riccati EquationModel Predictive ControlHelicoptersRotorcraftsAlgebraic Riccati EquationTerminal VelocityNonlinear FeedbackBlade Element TheoryMotion PlanningIterative SolutionAcknowledgmentThe first author wishes to thank Airbus Helicopters in Donauwörth, Germany, for granting temporary leave to pursue graduate study at the Technical University of Munich.PDF Received24 April 2018Accepted1 August 2019Published online15 September 2019