A global-local approach for trajectory generation on rough terrain

Chen Lin, Puneet Singla, Tarunraj Singh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper,we consider trajectory generation problem as an optimal control problem while minimizing a cost function and satisfying any boundary, terrain, path and system dynamics constraints. The optimal state and control profiles are approximated by a weighted average of independent local approximations. Specially derived weight functions are used to construct a globally continuous function. Such a method provides us a way of using local information to construct near-optimal trajectories, which is useful in the context of numerically solving nonlinear trajectory generation problems.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - Dec 1 2009
EventAIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, IL, United States
Duration: Aug 10 2009Aug 13 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit
CountryUnited States
CityChicago, IL
Period8/10/098/13/09

Fingerprint

Trajectories
Cost functions
Dynamical systems

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Lin, C., Singla, P., & Singh, T. (2009). A global-local approach for trajectory generation on rough terrain. In AIAA Guidance, Navigation, and Control Conference and Exhibit [2009-6295] (AIAA Guidance, Navigation, and Control Conference and Exhibit).
Lin, Chen ; Singla, Puneet ; Singh, Tarunraj. / A global-local approach for trajectory generation on rough terrain. AIAA Guidance, Navigation, and Control Conference and Exhibit. 2009. (AIAA Guidance, Navigation, and Control Conference and Exhibit).
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Lin, C, Singla, P & Singh, T 2009, A global-local approach for trajectory generation on rough terrain. in AIAA Guidance, Navigation, and Control Conference and Exhibit., 2009-6295, AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA Guidance, Navigation, and Control Conference and Exhibit, Chicago, IL, United States, 8/10/09.

A global-local approach for trajectory generation on rough terrain. / Lin, Chen; Singla, Puneet; Singh, Tarunraj.

AIAA Guidance, Navigation, and Control Conference and Exhibit. 2009. 2009-6295 (AIAA Guidance, Navigation, and Control Conference and Exhibit).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Lin C, Singla P, Singh T. A global-local approach for trajectory generation on rough terrain. In AIAA Guidance, Navigation, and Control Conference and Exhibit. 2009. 2009-6295. (AIAA Guidance, Navigation, and Control Conference and Exhibit).