Dynamic step selection algorithm for piecewise linear approximation of complex control trajectories
The paper proposes a method for replacing a complex function used as a target for automatic control of unmanned vehicles with a simplified piecewise linear function, which requires much less computing resources. A numerical method has been developed for adaptive selection of a variable step for appr...
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| Published in: | Ocean engineering Vol. 280; p. 114498 |
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| Main Authors: | , , , , , |
| Format: | Journal Article |
| Language: | English |
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Elsevier Ltd
15.07.2023
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| ISSN: | 0029-8018, 1873-5258 |
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| Abstract | The paper proposes a method for replacing a complex function used as a target for automatic control of unmanned vehicles with a simplified piecewise linear function, which requires much less computing resources. A numerical method has been developed for adaptive selection of a variable step for approximating a nonlinear one-dimensional function, the analytical expression of which is not given, by a piecewise linear function. The article shows that selection of approximation step (grid) is an important task for minimizing the calculations required number, if the computing device on board the unmanned vehicle must be miniature. The developed algorithm includes the calculation of successive intervals lengths that eventually cover the entire domain of the function with a predetermined approximation accuracy. The determination coefficient is used as a measure of accuracy. Numerical experiments are presented for calculating the linear-piecewise function parameters for the approximating a target trajectory problem with complex configuration for unmanned aerial underwater vehicle automatic control. The proposed method efficiency is compared with methods with a constant step, as well as with methods for calculating the dynamic step in various approaches. The advantage of the developed method from the point of view of computational costs is proved with the same accuracy, the limitations of the applicability of the method are determined.
•The paper proposes a method for replacing a complex function used as a target for automatic control of unmannedvehicles with a simplified piecewise linear function which requires much less computing resources.•The calculation of linear dependencies can be performed by low-power on-board computers, which is critical forreal-time control of unmanned mobile vehicles.•As an example of algorithm operation, we consider a piecewise linear approximation of the target trajectory forspecific unmanned vehicle - hybrid unmanned aerial underwater vehicle (HUAUV) by octo-quadcopter type. |
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| AbstractList | The paper proposes a method for replacing a complex function used as a target for automatic control of unmanned vehicles with a simplified piecewise linear function, which requires much less computing resources. A numerical method has been developed for adaptive selection of a variable step for approximating a nonlinear one-dimensional function, the analytical expression of which is not given, by a piecewise linear function. The article shows that selection of approximation step (grid) is an important task for minimizing the calculations required number, if the computing device on board the unmanned vehicle must be miniature. The developed algorithm includes the calculation of successive intervals lengths that eventually cover the entire domain of the function with a predetermined approximation accuracy. The determination coefficient is used as a measure of accuracy. Numerical experiments are presented for calculating the linear-piecewise function parameters for the approximating a target trajectory problem with complex configuration for unmanned aerial underwater vehicle automatic control. The proposed method efficiency is compared with methods with a constant step, as well as with methods for calculating the dynamic step in various approaches. The advantage of the developed method from the point of view of computational costs is proved with the same accuracy, the limitations of the applicability of the method are determined.
•The paper proposes a method for replacing a complex function used as a target for automatic control of unmannedvehicles with a simplified piecewise linear function which requires much less computing resources.•The calculation of linear dependencies can be performed by low-power on-board computers, which is critical forreal-time control of unmanned mobile vehicles.•As an example of algorithm operation, we consider a piecewise linear approximation of the target trajectory forspecific unmanned vehicle - hybrid unmanned aerial underwater vehicle (HUAUV) by octo-quadcopter type. |
| ArticleNumber | 114498 |
| Author | Mingaliyev, Z.Z. Zhang, Xinbin Tan, Liguo Su, Haoxiang Novikova, S.V. Li, Liyi |
| Author_xml | – sequence: 1 givenname: Liguo surname: Tan fullname: Tan, Liguo email: tanliguo@mail.ru organization: Harbin Institute of Technology, Harbin, China – sequence: 2 givenname: Liyi surname: Li fullname: Li, Liyi email: liliyi@hit.edu.cn organization: Harbin Institute of Technology, Harbin, China – sequence: 3 givenname: Haoxiang orcidid: 0000-0003-3667-2901 surname: Su fullname: Su, Haoxiang email: shx@mails.swust.edu.cn organization: Southwest University of Science and Technology, Mianyang, China – sequence: 4 givenname: S.V. surname: Novikova fullname: Novikova, S.V. organization: Kazan National Research Technical University named after A.N. Tupolev, Kazan, Russia – sequence: 5 givenname: Xinbin surname: Zhang fullname: Zhang, Xinbin email: zhangxinbin@hit.edu.cn organization: Harbin Institute of Technology, Harbin, China – sequence: 6 givenname: Z.Z. surname: Mingaliyev fullname: Mingaliyev, Z.Z. organization: Kazan National Research Technical University named after A.N. Tupolev, Kazan, Russia |
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| Keywords | Target trajectory Piecewise linear approximation Numerical methods Automatic control Approximation grid step Unmanned vehicle Variable step |
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