지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 299 - 304 (6page)
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초록· 키워드
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Many guidance laws for UAVs focus on path following. And trajectory tracking problem is enough when it satisfies path and time constrains. One more constraint will be considered in this research, that is, approaching direction to a terminal position. Two methods will be introduced; they are based on Pythagorean-Hodograph curve, and the Lyapunov vector field, respectively. The first algorithm consists of two steps. The first step is trajectory-planning using PH curve, and the second step is tracking algorithm for that curve. The second algorithm is based on vector field including a variable parameter. Using this parameter, contraction vectors toward the origin are tuned, and a desired terminal approaching condition is achieved.
목차
Abstract
1. INTRODUCTION
2. GUIDANCE LAW BASED ON PH CURVE
3. GUIDANCE LAW BASED ON LYAPUNOV VECTOR FIELD
4. SIMULATION
5. CONCLUSION AND FUTURE WORKS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000912557