The Autonomous Trajectory Planning and Adaptive Control (ATPAC) architecture is proposed in this paper to achieve UCAV autonomous navigation during strike mission with unknown threats. The ATPAC architecture is consisted of a navigation module and a flight control module. The navigation module is implemented by policy-gradient learning algorithm coupled with expectant direction search (EDS) strategy which is introduced in this paper. The flight control module implemented by Structure Adaptive Model Inverse (SAMI) algorithm, which can cope with significant parameter uncertainties of the vehicle's mathematic model and maintain adequate flight performance of the vehicle. Combat scenario is presented to test the performance of the ATPAC architecture for a UCAV.
Trajectory Planning and Adaptive Control architecture for increasing autonomy of UCAV in strike missions
01.08.2016
399288 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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