原文传递
Optimal Control of an Uninhabited Loyal Wingman.
| 题名： | Optimal Control of an Uninhabited Loyal Wingman. |
| 作者： | Humphreys, C. J. |
| 关键词： | Aerial warfare, Air force research laboratories, Algorithms, Collision avoidance systems, Department of defense, Detection, Mathematical filters, Motion planning, Navigation, Warfare, Guidance, Systems engineering, Computational science, Control systems, Artificial intelligence, Air force, Collision avoidance, Aircrafts, Kalman filters, Unmanned aerial vehicles, Optimal control, Loyal wingman, Unmanned wingman, Pseudospectral method, Direct orthogonal collocation, Particle swarm optimization, Dynamic re-planning, Hybrid optimal control |
| 摘要： | This work demonstrates the use of optimal control and stochastic estimation techniques as an autonomous near real-timedynamic route planner for the DoD concept of the loyal wingman. First, the optimal control problem is formulated for a static threat environment and a hybrid numerical method is demonstrated. The optimal control problem is transcribed to a nonlinear program using direct orthogonal collocation, and a heuristic particle swarm optimization algorithm is used to supply an initial guess to the gradient-based nonlinear programming solver. Next, a dynamic and measurement update model and Kalman filter estimating tool is used to solve the loyal wingman optimal control problem in the presence of moving, stochastic threats. Finally, an algorithm is written to determine if and when the loyal wingman should dynamically re-plan the trajectory based on a modified distance to re-plan formulation which uses speed and stochastics of the moving threat as well as relative distance and angle of approach of the loyal wingman to the threat. Results demonstrate a methodology for rapidly computing an optimal solution to the loyal wingman optimal control problem. |
| 报告类型： | 科技报告 |
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