On-line trajectory optimization for autonomous air vehicles

Different methods of optimizing terrain following trajectories have been investigated as an extension of earlier reduced order formulations. This consists of employing a constant energy formulation rather than a constant velocity formulation, on the premise that a constant energy formulation will result in trajectories that are more consistent with the full vehicle dynamics. Consequently, this will be less demanding on the design of an outer loop controller that will ultimately be needed to follow the optimized trajectories. In addition, preliminary analysis of incorporating a constraint on the turn rate has been performed and initial results using actual terrain data have been presented.