Experimental demonstration of an online trajectory optimization scheme using approximate spatial value functions

Navid Dadkhah, Venkateshwar R. Korukanti, Zhaodan Kong, Berenice F Mettler May

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

Receding Horizon (RH) control is an established control methodology which has been used successfully for many control applications. More recently it has been applied for autonomous vehicle guidance. Its successful implementation, in particular for applications involving agile vehicles like rotorcraft, hinges on two critical factors: 1) adequately accounting for the vehicle dynamics to guarantee that the trajectory is feasible and also that the capabilities of the vehicle are fully exploited; 2) using an appropriate cost-to-go (CTG) function to account for the discarded tail of the trajectory. In this paper we describe the experimental evaluation of a RH trajectory optimization scheme with a CTG function which approximates the value function associated with the minimum time optimal trajectory planning problem. The paper describes how the CTG function is computed; how the system is integrated; and finally describes the experimental demonstration of the guidance scheme. The experiments were performed in our Interactive Guidance and Control Laboratory which combines state of the art software architecture with a customized miniature helicopter.

Original languageEnglish (US)
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages2978-2983
Number of pages6
DOIs
StatePublished - Dec 1 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009Dec 18 2009

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CountryChina
CityShanghai
Period12/15/0912/18/09

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  • Cite this

    Dadkhah, N., Korukanti, V. R., Kong, Z., & Mettler May, B. F. (2009). Experimental demonstration of an online trajectory optimization scheme using approximate spatial value functions. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 2978-2983). [5400429] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2009.5400429