추적 유도 법칙을 이용한 무인기 경로 추종 MPPI알고리즘의 연산 효율성 개선

Abstract

Recent utilization examples in conflict zones demonstrate the diverse tactical applications of unmanned aerial vehicles (UAVs) for military purposes. In this work, we provide the MPPI-based optimal path-following algorithm for UAVs. The MPPI is an algorithm that handles optimal control problems based on sampling utilizing Monte Carlo simulations. The advantages of the sampling-based approach include the ability to deal with complex nonlinear dynamics and objective functions, as well as not requiring an optimization solver. However, this method poses computational efficiency issues due to the need for a large number of samples. In this paper, we present an efficient MPPI-based quadcopter UAV's optimal path-following algorithm using pursuit guidance laws.