Optimal Path-Following Guidance with Generalized Weighting Functions Based on Indirect Gauss Pseudospectral Method

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3104397/figures/3104397.fig.0010a.svgz" name="3104397.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Trajectories with <svg height="11.1049pt" id="M221" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.54005 11.1049" width="9.54005pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M487 458L455 460C436 434 425 433 397 433C331 433 279 437 225 437C103 437 52 374 24 338L49 312C100 363 152 379 229 374C210 308 184 213 163 117C158 94 156 74 156 58C156 6 180 -12 211 -12C261 -12 313 27 348 68L332 99C307 76 285 64 267 64C252 64 236 86 250 148L301 373C320 373 344 369 364 369C399 369 435 370 450 372C458 386 470 411 487 458Z" id="g50-241"></path></g></svg>=0.5s</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3104397/figures/3104397.fig.0010b.svgz" name="3104397.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Position errors with <svg height="11.1049pt" id="M222" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.54005 11.1049" width="9.54005pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M487 458L455 460C436 434 425 433 397 433C331 433 279 437 225 437C103 437 52 374 24 338L49 312C100 363 152 379 229 374C210 308 184 213 163 117C158 94 156 74 156 58C156 6 180 -12 211 -12C261 -12 313 27 348 68L332 99C307 76 285 64 267 64C252 64 236 86 250 148L301 373C320 373 344 369 364 369C399 369 435 370 450 372C458 386 470 411 487 458Z" id="g50-241"></path></g></svg>=0.5s</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3104397/figures/3104397.fig.0010c.svgz" name="3104397.fig.0010c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Trajectories with <svg height="11.1049pt" id="M223" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.54005 11.1049" width="9.54005pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M487 458L455 460C436 434 425 433 397 433C331 433 279 437 225 437C103 437 52 374 24 338L49 312C100 363 152 379 229 374C210 308 184 213 163 117C158 94 156 74 156 58C156 6 180 -12 211 -12C261 -12 313 27 348 68L332 99C307 76 285 64 267 64C252 64 236 86 250 148L301 373C320 373 344 369 364 369C399 369 435 370 450 372C458 386 470 411 487 458Z" id="g50-241"></path></g></svg>=0.7s</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3104397/figures/3104397.fig.0010d.svgz" name="3104397.fig.0010d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Position errors with <svg height="11.1049pt" id="M224" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.54005 11.1049" width="9.54005pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M487 458L455 460C436 434 425 433 397 433C331 433 279 437 225 437C103 437 52 374 24 338L49 312C100 363 152 379 229 374C210 308 184 213 163 117C158 94 156 74 156 58C156 6 180 -12 211 -12C261 -12 313 27 348 68L332 99C307 76 285 64 267 64C252 64 236 86 250 148L301 373C320 373 344 369 364 369C399 369 435 370 450 372C458 386 470 411 487 458Z" id="g50-241"></path></g></svg>=0.7s</td></tr></table>

<div>Circular path following with <svg height="10.3089pt" id="M220" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 14.3602 10.3089" width="14.3602pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M610 18C585 26 567 34 540 68C517 97 499 128 476 171C452 215 425 276 413 304C496 332 570 394 570 494C570 555 545 595 509 619S419 650 364 650H139L133 622C216 615 219 612 203 527L129 132C112 40 105 36 23 28L17 0H279L285 28C199 34 194 40 211 132L239 284H284C320 284 334 275 351 236C374 182 394 140 420 93C459 23 495 -1 592 -8H600L610 18ZM480 485C480 424 449 372 403 342C374 323 338 316 293 316H245L291 562C296 589 301 601 311 608S337 618 358 618C432 618 480 575 480 485Z" id="g113-83"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.151,-5.741)"><path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z" id="g50-43"></path></g></svg>=100m for convergence rate comparison.</div>

Mathematical Problems in Engineering

fig10

Figure 10

Figure 10: Optimal Path-Following Guidance with Generalized Weighting Functions Based on Indirect Gauss Pseudospectral Method 