| fixed - wind unmanned aerial vehicles ( uavs ) are essential for low cost aerial surveillance and mapping applications in remote regions . one of the main limitations of uavs is limited fuel capacity and hence requires periodic refueling to accomplish a mission . the usual mechanism of commanding the uav to return to a stationary base station for refueling can result in fuel wastage and inefficient mission operation time . alternatively , unmanned gound vehicle ( ugv ) can be used as a mobile refueling unit where the uav will rendezvous with the ugv for refueling . in order to accurately perform this task in the presence of wind disturbances , we need to determine an optimal trajectory in 3d taking uav and ugv dynamics and kinematics into account . in this paper , we propose an optimal control formulation to generate a tunable uav trajectory for rendezvous on a moving ugv taking wind disturbances into account . by a suitable choice of the value of an aggressiveness index in our problem setting , we are able to control the uav rendezvous behavior . several numerical results are presented to show the reliability and effectiveness of our approach . |