Show simple item record

dc.contributor.authorMooney, John
dc.contributor.authorJohnson, Eric N.
dc.date.accessioned2016-01-25T16:54:29Z
dc.date.available2016-01-25T16:54:29Z
dc.date.issued2016-01
dc.identifier.citationJohn Mooney and Eric N. Johnson. "Efficient Approximation of Optimal High-Order Kinematic Trajectories", AIAA Guidance, Navigation, and Control Conference, AIAA SciTech, (AIAA 2016-1870). http://dx.doi.org/10.2514/6.2016-1870en_US
dc.identifier.urihttp://hdl.handle.net/1853/54505
dc.descriptionDOI: http://dx.doi.org/10.2514/6.2016-1870en_US
dc.descriptionPresented at the AIAA Guidance, Navigation, and Control Conference (2016)
dc.description.abstractA method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double integrator utilizing acceleration commands passed through a 4th-order cascaded filter, the model for which is presented along with the system solution for an arbitrary time step and derivative limits. Examples for trajectories generated in both one and two dimensions are shown, with comparison to an iterative solver which searches for the exact optimal solution. The presented algorithm shows drastically lower computational requirements than the iterative solver, with very little cost in accuracy. Benefits and limitations of this approach are discussed.en_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectAutonomous vehiclesen_US
dc.subjectHelicoptorsen_US
dc.subjectSlung load operationsen_US
dc.subjectPlanning trajectoriesen_US
dc.subjectSynchronizing trajectoriesen_US
dc.titleEfficient Approximation of Optimal High-Order Kinematic Trajectoriesen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Aerospace Engineeringen_US
dc.identifier.doi10.2514/6.2016-1870
dc.embargo.termsnullen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record