[Home ] [Archive]   [ فارسی ]  
:: Main :: About :: Current Issue :: Archive :: Search :: Submit :: Contact ::
:: Volume 8, Issue 2 (Journal of Control, V.8, N.2 Summer 2014) ::
JoC 2014, 8(2): 47-58 Back to browse issues page
Design of a Horizontal Guidance Algorithm for Optimal Crossing of Trajectory Legs
Seyyed javad Talebian * 1, Jafar Heirani nobari 1
1- Khaje Nasir Toosi University
Abstract:   (2412 Views)
In this article a horizontal guidance algorithm for an unmanned air vehicle is proposed, based on trajectory waypoints and legs between them. Design is done in two phases. For straight legs, a line following algorithm is designed, with consideration of autopilot dynamics, and for turn from active leg to next one, a turn guidance algorithm is proposed. Turn guidance algorithm is designed in two steps. At the first step, a desired trajectory is selected and then an algorithm is proposed to shape the trajectory according to the desired trajectory. Also with consideration of maximum lateral acceleration of the UAV and no jumping in lateral acceleration command at the beginning of turning phase, start and end point of the turn is determined to minimize the turn trajectory from legs.
Keywords: Horizontal guidance algorithm, Trajectory legs, Line following, Turn, Trajectory shaping
Full-Text [PDF 1239 kb]   (979 Downloads)    
Type of Study: Applicable | Subject: Special
Received: 2014/08/25 | Accepted: 2015/02/3 | Published: 2015/02/3
Send email to the article author

Add your comments about this article
Your username or Email:

CAPTCHA code


XML   Persian Abstract   Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

talebian S J, heirani nobari J. Design of a Horizontal Guidance Algorithm for Optimal Crossing of Trajectory Legs. JoC. 2014; 8 (2) :47-58
URL: http://joc.kntu.ac.ir/article-1-150-en.html


Volume 8, Issue 2 (Journal of Control, V.8, N.2 Summer 2014) Back to browse issues page
مجله کنترل Journal of Control
Persian site map - English site map - Created in 0.06 seconds with 31 queries by YEKTAWEB 3816