Optimal Guidance of Rotorcraft with Multiple Waypoint Constraints

초록

One practical and challenging problem in controlling a helicopter is to make it fly precisely thru multiple, irregularly and closely spaced waypoints. A traditional approach to this kind of problem is an inverse control method that requires the full trajectory to be known beforehand, which seriously restricts the usability. This paper proposes a method that can easily compute the full trajectory and control history of a system to pass through waypoints while imposing other constraints such as velocities and attitudes at the waypoints simultaneously. The proposed method is applied to helicopter guidance problems and demonstrates its usability.