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4D Trajectory Generation and Tracking for (4 d轨迹生成和跟踪)
WSEAS TRANSACTIONS on SYSTEMS and CONTROL K. Bousson, Paulo F. F. Machado
4D Trajectory Generation and Tracking for Waypoint-Based Aerial
Navigation
K. BOUSSON
Avionics and Control Laboratory, Department of Aerospace Sciences
University of Beira Interior, 6201-001 Covilhã, PORTUGAL
k1bousson@, bousson@ubi.pt
PAULO F. F. MACHADO
Avionics and Control Laboratory, Department of Aerospace Sciences
University of Beira Interior, 6201-001 Covilhã, PORTUGAL
pffmachado@
Abstract: - One of the operational requirements for unmanned aerial vehicles is the autonomous navigation and
control along a given sequence of waypoints, or along a predefined trajectory. Existing autonomous navigation
procedures are mostly done in 3D because of the stringent certification requirements for 4D flight and due to
the complexity in coping with time of arrival at waypoints, whilst actual flight plan fulfillment requires 4D
navigation. The present paper deals with the 4D navigation trajectory generation and tracking of unmanned
aerial vehicles along given sequences of waypoints with arrival time constraints at each of these waypoints. The
approach that is used is twofold, first an optimal continuous trajectory is generated passing through the
sequence of waypoints using the pseudospectral based trajectory optimization method, and then a predictive
control law is used to drive the aircraft along the generated trajectory with minimum deviation. The proposed
method for trajectory generation does not require slack variabl
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