Helicopters operating in high threat areas have to fly close to the earth surface to minimize the risk of being detected by the adversaries. Techniques are presented for low altitude helicopter trajectory planning. These methods are based on optimal control theory and appear to be implementable onboard in realtime. Second order necessary conditions are obtained to provide a criterion for finding the optimal trajectory when more than one extremal passes through a given point. A second trajectory planning method incorporating a quadratic performance index is also discussed. Trajectory planning problem is formulated as a differential game. The objective is to synthesize optimal trajectories in the presence of an actively maneuvering adversary. Numerical methods for obtaining solutions to these problems are outlined. As an alternative to numerical method, feedback linearizing transformations are combined with the linear quadratic game results to synthesize explicit nonlinear feedback strategies for helicopter pursuit-evasion. Some of the trajectories generated from this research are evaluated on a six-degree-of-freedom helicopter simulation incorporating an advanced autopilot. The optimal trajectory planning methods presented are also useful for autonomous land vehicle guidance.
Optimal Helicopter Trajectory Planning for Terrain Following Flight
1990
194 pages
Report
No indication
English
Avionics , Guidance Systems , Navigation Systems , Control theory , Game theory , Helicopters , Optimal control , Trajectory analysis , Computer programs , Night , Terrain , Trajectory control , Aircraft maneuvers , Automatic pilots , Autonomy , Differential equations , Earth surface , Low altitude , Nonlinear feedback , Risk , Strategy , Synthesizers
Constrained optimal terrain following/threat avoidance trajectory planning using network flow
Online Contents | 2014
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