The problem of generating optimal flight trajectories for an autonomous helicopter is investigated. A planning strategy is proposed that partitions the optimization problem into isolated segments. Given a set of nominal waypoints the trajectories are generated that interpolate close to these points. This path generation is done for two different cases, corresponding to the two flight controllers that either govern position or velocity of the helicopter. Based on a given cost functional, the planner selects the optimal one among these multiple paths. This approach thus provides a systematic way for generating not only the flight path, but also a suitable switching strategy, i.e. when to switch between the different controllers.
An integrated algorithm for path planning and flight controller scheduling for autonomous helicopters
Bahnplanung und Flugregelung für unbemannte, automatische Hubschrauber
1999
10 Seiten, 6 Bilder, 9 Quellen
Conference paper
English
HIERARCHICAL PATH PLANNING AND FLIGHT CONTROL OF SMALL AUTONOMOUS HELICOPTERS USING MPC TECHNIQUES
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