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High-fidelity trajectory optimization for aeroassisted vehicles using variable order pseudospectral method

Chinese Journal of Aeronautics 2021年第1期34卷 237-251页

作者： Runqi CHai Antonios TSOURDOS ai savvaris Senchun CHai Yuanqing XIA School of Aerospace Transport and ManufacturingCranfield UniversityBedfordshire MK43OALUnited Kingdom School of Automation Beijing Institute of TechnologyBeijing 100081China

In this study,the problem of time-optimal reconnaissance trajectory design for the aeroassisted vehicle is *** from most works reported previously,we explore the feasibility of applying a high-order aeroassisted vehicle dynamic model to plan the optimal flight trajectory such that the gap between the simulated model and the real system can be narrowed.A highly-constrained optimal control model containing six-degree-of-freedom vehicle dynamics is *** solve the formulated high-order trajectory planning model,a pipelined optimization strategy is *** approach is based on the variable order Radau pseudospectral method,indicating that the mesh grid used for discretizing the continuous system experiences several adaption *** of such a strategy can potentially smooth the flight trajectory and improve the algorithm convergence *** simulations are reported to demonstrate some key features of the optimized flight trajectory.A number of comparative studies are also provided to verify the effectiveness of the applied method as well as the high-order trajectory planning model.

关键词： Aeroassisted vehicle High-order Radau pseudospectral method Six-degree-of-freedom Trajectory design Variable order

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Terrain based co-operative UAV mapping of complex obstacles using 2-D splinegon

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International Journal of Intelligent Computing and Cybernetics 2012年第3期5卷 248-292页

作者： Samuel B.Lazarus Antonios Tsourdos Brian A.White Peter Silson Al savvaris Camille-Alain Rabbath Nicolas Lèchevin School of Engineering Cranfield UniversityCranfieldUK Autonomous Systems Group Defence Academy of the United KingdomCranfield UniversityShrivenhamUK Defence Research and Development Canada-Valcartier Quebec CityCanada Numerica Technologies Inc.ValcartierQuebec CityCanada

Purpose-This paper aims to describe a recently proposed algorithm in terrain-based cooperative UAV mapping of the unknown complex obstacle in a stationary environment where the complex obstacles are represented as curved in *** also aims to use an extended Kalman filter(EKF)to estimate the fused position of the UAVs and to apply the 2-D splinegon technique to build the map of the complex shaped *** path of the UAVs are dictated by the Dubins path planning *** focus is to achieve a guaranteed performance of sensor based mapping of the uncertain environments using multiple ***/methodology/approach–An extended Kalman filter is used to estimate the position of the UAVs,and the 2-D splinegon technique is used to build the map of the complex obstacle where the path of the UAVs are dictated by the Dubins path planning ***-The guaranteed performance is quantified by explicit bounds of the position estimate of the multiple UAVs for mapping of the complex obstacles using 2-D splinegon *** is a newly proposed algorithm,the most efficient and a robust way in terrain based mapping of the complex *** proposed method can provide mathematically provable and performance guarantees that are achievable in ***/value-The paper describes the main contribution in mapping the complex shaped curvilinear objects using the 2-D splinegon *** is a new approach where the fused EKF estimated positions are used with the limited number of sensors’measurements in building the map of the complex obstacles.

关键词： Multiple sensor fusion Data fusion EKF based navigation Multiple UAVs 2-D splinegon Robust UAV localization Complex obstacle mapping Sensor fusion Navigation

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