document: Horizontal waypoint guidance design using optimal control A horizontal waypoint guidance algorithm is proposed by applying line-following guidance to waypoint line segments in sequence . The line-following guidance is designed using an LQR -LRB- linear quadratic regulator -RRB- . Then , the optimal waypoint changing points are derived by minimizing the accelerations required for changing the waypoint line segments . Also derived is a sufficient condition for the stability bound of ground speed changes based on the Lyapunov stability theorem . Simulation results show that the proposed algorithm can effectively guide a vehicle along the sequence of waypoint line segments
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