New advances in control theory are required to enable aggressive maneuvering of autonomous vehicles, while adapting in real time to changes in the operational environment. A hybrid control architecture, the states of which represent feasible trajectory primitives, is constructed to reduce the complexity of the motion-planning problem for a nonlinear, high-dimensional system such as an aerial vehicle. Any feasible trajectories in the primitive list are available to the automatic control system; these may include a complete set of transitions between pairs of trim trajectories in addition to pilot-inspired behaviors recorded during manual flight tests with a human pilot. This paper describes the structure of a hybrid automaton that solves a time-optimal motion-planning problem by sequencing maneuvers in real time from such a primitive list. The algorithm can be used in a free workspace, or in the presence of fixed or moving obstacles. We present simulation results showing the effectiveness of this approach for a behavior library generated by a combination of analysis and live flight tests with a small remote-controlled helicopter.
Hybrid control for aggressive maneuvering of autonomous aerial vehicles
19th DASC. 19th Digital Avionics Systems Conference. Proceedings (Cat. No.00CH37126) ; 1 ; 1E4/1-1E4/8 vol.1
2000-01-01
725747 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Hybrid Control for Aggressive Maneuvering of Autonomous Aerial Vehicles
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