Clothoid-Based Three-Dimensional Curve for Attitude Planning
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Clothoid-Based Three-Dimensional Curve for Attitude Planning

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Clothoid-Based Three-Dimensional Curve for Attitude Planning

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dc.contributor.author Girbés, Vicent
dc.contributor.author Vanegas, Gloria
dc.contributor.author Armesto, Leopoldo
dc.date.accessioned 2020-07-24T16:00:36Z
dc.date.available 2020-07-24T16:00:36Z
dc.date.issued 2019
dc.identifier.uri https://hdl.handle.net/10550/75354
dc.description.abstract Interest in flying robots, also known as unmanned aerial vehicles (UAVs), has grown during last years in both military and civil fields [1, 2]. The same happens to autonomous underwater vehicles (AUVs) [3]. These vehicles, UAVs and AUVs, offer a wide variety of possible applications and challenges, such as control, guidance or navigation [2, 3]. In this sense, heading and attitude control in UAVs is very important [4], particularly relevant in airplanes (fixed-wing flying vehicles), because they are strongly non-linear, coupled, and tend to be underactuated systems with non-holonomic constraints. Hence, designing a good attitude controller is a difficult task [5, 6, 7, 8, 9], where stability must be taken into account by the controller [10]. Indeed, if the reference is too demanding for the controller or non-achievable because its dynamics is too fast, the vehicle might become unstable. In order to address this issue, autonomous navigation systems usually include a high-level path planner to generate smooth reference trajectories to be followed by the vehicle using a low-level controller. Usually a set of waypoints is given in GPS coordinates, normally from a map, in order to apply a smooth point-to-point control trajectory [11, 12].
dc.language.iso eng
dc.relation.ispartof Journal of Guidance Control and Dynamics, 2019, vol. 42, num. 8, p. 1886-1898
dc.rights.uri info:eu-repo/semantics/openAccess
dc.source Girbés, Vicent Vanegas, Gloria Armesto, Leopoldo 2019 Clothoid-Based Three-Dimensional Curve for Attitude Planning Journal of Guidance Control and Dynamics 42 8 1886 1898
dc.subject Vehicles
dc.subject Enginyeria
dc.subject Aeronàutica
dc.subject Robots
dc.title Clothoid-Based Three-Dimensional Curve for Attitude Planning
dc.type info:eu-repo/semantics/article
dc.date.updated 2020-07-24T16:00:37Z
dc.identifier.doi https://doi.org/10.2514/1.G003551
dc.identifier.idgrec 140060

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