Minimal Length Multi-Segment Clothoid Return Paths for Vehicles with Turn Rate Constraints
| Autor: | Tuttle, Theodore |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: | |
| Druh dokumentu: | Text |
| Popis: | Continuous curvature interception paths are needed to accurately return a fixed wing UAV with turn rate constraints back to a mission path after collision avoidance. Clothoid routes where curvature is linearly dependent to arc length are used to make multi-segment splines with continuous curvature, but require optimization to ensure that the path is of minimal length while meeting turn radius and rate constraints. The present work considers the problem of a UAV intercepting a path after leaving its planned mission route during collision avoidance. The first objective investigated a cost function to optimize a three segment clothoid return path to be of minimal length and meet turn radius and rate constraints. The second objective explored an optimization process for generating minimal length clothoid recovery paths and then evaluated their effectiveness by comparing to direct return methods with a simulated UAV. The impact of this work is enabling smooth and accurate path interception after collision avoidance with minimal length paths that minimize the time spent from a mission’s planned path, providing more time to complete mission objectives. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|