Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866911809123909632 |
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| author | Jha, Bhargav Bopardikar, Shaunak Von Moll, Alexander Casbeer, David |
| author_facet | Jha, Bhargav Bopardikar, Shaunak Von Moll, Alexander Casbeer, David |
| contents | This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a maneuvering target such that at the terminal time it is withing the field-of-view and range limits. Catering to it, we present a minimum effort guidance law that commensurate for the turn rate abilities of the vehicle and the turret. The guidance law is obtained using linearization about the collision triangle and admits an analytical solution. Simulation results are presented to exemplify the cooperation between the turret and the vehicle. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_14997 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly Jha, Bhargav Bopardikar, Shaunak Von Moll, Alexander Casbeer, David Robotics Systems and Control This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a maneuvering target such that at the terminal time it is withing the field-of-view and range limits. Catering to it, we present a minimum effort guidance law that commensurate for the turn rate abilities of the vehicle and the turret. The guidance law is obtained using linearization about the collision triangle and admits an analytical solution. Simulation results are presented to exemplify the cooperation between the turret and the vehicle. |
| title | Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.14997 |