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
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479786
DOIs
StatePublished - 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

All Science Journal Classification (ASJC) codes

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

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