title: Horizontal waypoint guidance design using optimal control
abstract: A horizontal waypoint guidance algorithm is proposed by applying line-following guidance to waypoint line segments in sequence. The line-following guidance is designed using an LQR (linear quadratic regulator). Then, the optimal waypoint changing points are derived by minimizing the accelerations required for changing the waypoint line segments. Also derived is a sufficient condition for the stability bound of ground speed changes based on the Lyapunov stability theorem. Simulation results show that the proposed algorithm can effectively guide a vehicle along the sequence of waypoint line segments
keyphrases: horizontal waypoint guidance algorithm line-following guidance waypoint line segments LQR linear quadratic regulator optimal waypoint changing points stability bound ground speed changes Lyapunov stability theorem unmanned flying vehicle threat avoidance terrain masking attack directions target location arrival time