A simple numerical method is proposed to treat the intricate optimal control problem of generating minimum time trajectories for an autonomous helicopter under various kinematic and dynamic constraints. From kinematics view point, the method is based on modelling any trajectory candidate as a composition of a parametric form defining the helicopter path, and a monotonically increasing function specifying the motion on this path. Both of them are parameterized using a set of control points which are fitted using B-spline functions. From dynamics view point, the method uses a dynamic model accounting for the most significant efforts acting on the system. Intrinsic physical limitations which complicate the system exploitation, particularly under-actuation and limits on input controls, are also considered. The optimal trajectory generation problem is cast as a nonlinear optimization problem by considering positions of the control points as the main optimization variables. These positions may be found using classical optimization techniques, such as the sequential quadratic programming method, while checking for the imposed constraints. Finally, simulation results corresponding to point-to-point tasks in free and encumbered environments are presented to illustrate the efficiency of the proposed approach.
Optimal trajectory planning for an autonomous helicopter
Optimale Flugbahnplanung für einen autonomen Hubschrauber
2009
12 Seiten, 7 Bilder, 1 Tabelle, 38 Quellen
Conference paper
Storage medium
English
Optimal Trajectory Planning for an Autonomous Helicopter
British Library Conference Proceedings | 2009
|Optimal Trajectory Planning for an Autonomous Helicopter
British Library Conference Proceedings | 2009
|Optimal Trajectory Planning for an Autonomous Helicopter
British Library Conference Proceedings | 2009
|