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摘要:
This paper considers a variation on the Dubins path problem and proposes an improved waypoint navigation (WN) algorithm called Dubins waypoint navigation (DWN). Based on the Dubins path problem, an algorithm is developed that is updated in real-time with a horizon of three waypoints. The purpose of DWN is to overcome a problem that we find in existing WN for small-class fixed-wing unmanned aerial vehicles (UAV) of not accurately reaching waypoints. This problem results at times in high overshoot and, in the presence of wind disturbances, it can cause a vehicle to miss the waypoint and swirl around it. To prevent this, the DWN creates “new waypoints” that are in the background, called turning points. Examples illustrate the improvement of the performance of WN achieved using the DWN algorithm in terms of the targeting of waypoints while reducing fuel and time.
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篇名 Dubins Waypoint Navigation of Small-Class Unmanned Aerial Vehicles
来源期刊 最优化(英文) 学科 医学
关键词 Dubins PATH WAYPOINT NAVIGATION Unmanned AERIAL VEHICLES AUTONOMY Shortest PATH Fuel Optimization
年,卷(期) 2019,(2) 所属期刊栏目
研究方向 页码范围 59-72
页数 14页 分类号 R73
字数 语种
DOI
五维指标
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研究主题发展历程
节点文献
Dubins
PATH
WAYPOINT
NAVIGATION
Unmanned
AERIAL
VEHICLES
AUTONOMY
Shortest
PATH
Fuel
Optimization
研究起点
研究来源
研究分支
研究去脉
引文网络交叉学科
相关学者/机构
期刊影响力
最优化(英文)
季刊
2325-7105
武汉市江夏区汤逊湖北路38号光谷总部空间
出版文献量(篇)
65
总下载数(次)
0
总被引数(次)
0
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