Online Trajectory Generation Using Clothoid Segments

Schneider, Volker; Piprek, Patrick; Schatz, Simon P.; Baier, Thaddäus; Dörhöfer, Christoph; Hochstrasser, Markus; Gabrys, Agnes Christine; Karlsson, Erik; Krause, Christoph; Lauffs, Patrick J.; Mumm, Nils; Nürnberger, Katejan; Peter, Lars; Spiegel, Philip; Steinert, Lukas; Zollitsch, Alexander; Holzapfel, Florian

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Titel:: Online Trajectory Generation Using Clothoid Segments
Dokumenttyp:: Konferenzbeitrag
Autor(en):: Schneider, Volker; Piprek, Patrick; Schatz, Simon P.; Baier, Thaddäus; Dörhöfer, Christoph; Hochstrasser, Markus; Gabrys, Agnes Christine; Karlsson, Erik; Krause, Christoph; Lauffs, Patrick J.; Mumm, Nils; Nürnberger, Katejan; Peter, Lars; Spiegel, Philip; Steinert, Lukas; Zollitsch, Alexander; Holzapfel, Florian
Abstract:: In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. The approach uses clothoids to deal with the problem of curvature steps during the transition phase between straight line and arc flight. The algorithm is designed in interaction with a trajectory controller for 2nd order error dynamics, which hence requires more trajectory information than a conventional approach. The presented test results were obtained via in-flight tests with an experimental CS 23 aircraft. «
In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. The approach uses clothoids to deal with the problem of curvature steps during the transition phase between straight line and arc flight. The algorithm is designed in interaction with a trajectory controller for 2nd order error dynamics, which hence requires more trajectory information than a conventional approach. The presented test results were obtained via in-flight tests wit... »
Kongress- / Buchtitel:: 14th International Conference on Control, Automation, Robotics {&} Vision (ICARCV)
Jahr:: 2016
Nachgewiesen in:: Scopus; Web of Science
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