Optimal Feedback Guidance of a Small Aerial Vehicle in a Stochastic Wind
Optimal Feedback Guidance of a Small Aerial Vehicle in a Stochastic Wind
复制标题
随机风中小型飞行器的最优反馈制导
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
P. Tsiotras
中科院分区：
文献类型：
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作者：
Ross P. Anderson;E. Bakolas;D. Milutinović;P. Tsiotras
由于风对小型无人机运动学的影响很大，其导航具有挑战性。当运动模型简化为二维时，它具有Dubins运动车辆模型的形式。因此，本文解决的问题，最大限度地减少预期所需的时间来驱动Dubins车辆的规定的目标设置中存在的随机变化的风。首先，两个解析推导的控制律。一种控制律不考虑风的存在，而另一种控制律假设风是恒定的并且是先验已知的。在后一种情况下，假设盛行风等于其平均值;没有关于风速和风向变化的信息。其次，通过采用随机最优控制的数值技术，计算反馈控制策略。这些预测风的随机变化，并将车辆驱动到其目标设置，同时最大限度地减少预期的时间。
The navigation of a small unmanned aerial vehicle is challenging due to a large influence of wind to its kinematics. When the kinematic model is reduced to two dimensions, it has the form of the Dubins kinematic vehicle model. Consequently, this paper addresses the problem of minimizing the expected time required to drive a Dubins vehicle to a prescribed target set in the presence of a stochastically varying wind. First, two analytically-derived control laws are presented. One control law does not consider the presence of the wind, whereas the other assumes that the wind is constant and known a priori. In the latter case it is assumed that the prevailing wind is equal to its mean value; no information about the variations of the wind speed and direction is available. Next, by employing numerical techniques from stochastic optimal control, feedback control strategies are computed. These anticipate the stochastic variation of the wind and drive the vehicle to its target set while minimizing the expected tim...