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.


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    Title :

    Hybrid control for aggressive maneuvering of autonomous aerial vehicles


    Contributors:
    McConley, M.W. (author) / Piedmonte, M.D. (author) / Appleby, B.D. (author) / Frazzoli, E. (author) / Feron, E. (author) / Dahleh, M.A. (author)


    Publication date :

    2000-01-01


    Size :

    725747 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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