scholarly journals Real-Time Optimal Guidance and Obstacle Avoidance for UMVs

10.5772/23401 ◽  
2011 ◽  
Author(s):  
Oleg A. ◽  
Sean P.
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Optimal Guidance ◽  
Time Optimal

Real-Time Optimal Guidance for Orbital Maneuvering

AIAA Journal ◽  
1973 ◽  
Vol 11 (9) ◽  
pp. 1266-1272 ◽  
Author(s):  
AUDREY O. COHEN ◽  
KENNETH R. BROWN
Keyword(s):  
Real Time ◽  
Optimal Guidance ◽  
Time Optimal

scholarly journals PSO-Based Soft Lunar Landing with Hazard Avoidance: Analysis and Experimentation

Aerospace ◽  
2021 ◽  
Vol 8 (7) ◽  
pp. 195
Author(s):  
Andrea D’Ambrosio ◽  
Andrea Carbone ◽  
Dario Spiller ◽  
Fabio Curti
Keyword(s):  
Real Time ◽  
Inverse Dynamics ◽  
A Priori ◽  
Closed Form Solution ◽  
Control Policy ◽  
Form Solution ◽  
Soft Landing ◽  
Lunar Landing ◽  
Optimal Guidance ◽  
Time Optimal

The problem of real-time optimal guidance is extremely important for successful autonomous missions. In this paper, the last phases of autonomous lunar landing trajectories are addressed. The proposed guidance is based on the Particle Swarm Optimization, and the differential flatness approach, which is a subclass of the inverse dynamics technique. The trajectory is approximated by polynomials and the control policy is obtained in an analytical closed form solution, where boundary and dynamical constraints are a priori satisfied. Although this procedure leads to sub-optimal solutions, it results in beng fast and thus potentially suitable to be used for real-time purposes. Moreover, the presence of craters on the lunar terrain is considered; therefore, hazard detection and avoidance are also carried out. The proposed guidance is tested by Monte Carlo simulations to evaluate its performances and a robust procedure, made up of safe additional maneuvers, is introduced to counteract optimization failures and achieve soft landing. Finally, the whole procedure is tested through an experimental facility, consisting of a robotic manipulator, equipped with a camera, and a simulated lunar terrain. The results show the efficiency and reliability of the proposed guidance and its possible use for real-time sub-optimal trajectory generation within laboratory applications.

Real-time optimal guidance

1967 ◽  
Vol 12 (5) ◽  
pp. 501-506 ◽  
Author(s):  
K. Brown ◽  
G. Johnson
Keyword(s):  
Real Time ◽  
Optimal Guidance ◽  
Time Optimal
Sign in / Sign up

Export Citation Format

Share Document