Abstract
Effective trajectory planning and feedback control are important for an autonomous micro air vehicle (MAV) to accomplish a flight task of going across several target points. This paper presents a novel method to generate an optimal trajectory for a MAV based on criteria of minimum energy consumptions and lowest difficulties in reorienting the vehicle, via designing feasible turning rates and heading angles in consideration of the MAV dynamics. A switching PID feedback control is proposed and utilized in the lateral control of the MAV to accomplish the trajectory tracking. Examples of two-waypoint and multi-waypoint missions, using the proposed trajectory planning and tracking scheme based on a developed control system of a MAV, are presented, with the simulation results to demonstrate the effectiveness of the proposed approach. © 2007 Elsevier Ltd. All rights reserved.
| Original language | English |
|---|---|
| Pages (from-to) | 245-253 |
| Journal | Mechatronics |
| Volume | 17 |
| Issue number | 4-5 |
| DOIs | |
| Publication status | Published - May 2007 |
Research Keywords
- Micro air vehicle
- Model identification
- Trajectory planning
- Trajectory tracking
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