Trajectory Planning using Nonlinear Receding Horizon Optimization for an Autonomous Airship

Abstract

This paper presents a control architecture for reference tracking of a small autonomous airship with input constraints. Nonlinear receding horizon optimization is used in order to generate a reference trajectory for the low-level controller to track. A simplified lateral dynamics model for an airship is also presented in this paper to be used for prediction. To investigate the efficacy of the proposed control algorithm, it is then implemented on a simulation platform and tested on a 6-degrees-of-freedom airship model to track a straight line and circular trajectory in the presence of wind disturbance. The simulation results indicate that the proposed planner generates a feasible trajectory for the low-level controller to track. A significant improvement in the tracking performance of the airship is also seen by the introduction of the planner.