Yasmina Bestaoui

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This paper presents missile guidance as a complex robotic problem: a hybrid non-linear system moving in a heterogeneous environment. The proposed solution to this problem combines a sampling-based path planner, Dubins' curves and a locally-optimal guidance law. This algorithm aims to find feasible trajectories that anticipate future flight conditions,(More)
Minimum time point to point motion planning has been solved considering kinematical constraints on speed and acceleration [3]. These bounds are approximations and imply the full capability of the robot cannot be utilized. Efficiency can be increased by considering the characteristics of the robot dynamics. [l] has presented a trajectory generation based on(More)
Dynamics of automated guided vehicles (AGVs) are described by a nonlinear nonholonomic model with two inputs: the rear axle torque and the steering angle torque. This model uses integrated longitudinal and lateral behavior. The first part of this paper is concerned with motion generation, taking into account kinodynamics and motor's constraints. Usual(More)
The objective of this paper is to generate a desired flight path to be followed by an autonomous airship. The space is supposed without obstacles. As there is six degrees of freedom and only three inputs for the LSC airship in a low velocity flight, three equality constraints appear due to the under-actuation. When the roll φ and pitch θangles(More)
In this paper we propose an algorithm allowing the calculation of the trim trajectories for the airship. These trajectories are suitable for control, by linearizing the dynamic equations around the trim conditions, and hence simplifying significantly the controller synthesis. Another advantage related to trim trajectories consists in the simplification of(More)
This paper deals with a characterization of the shortest paths for lateral navigation of an autonomous underactuated airship taking into account its dynamics and actuator limitations. The initial and terminal positions are given. We would like to specify the control forces that steer the unmanned aerial vehicle to the given terminal position requiring the(More)