Using Direct Methods for Terminal Guidance of Autonomous Aerial Delivery Systems
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Authors
Yakimenko, O.
Slegers, N.
Subjects
Snowflake
Aerodynamic Decelerator Systems Center
Aerodynamic Decelerator Systems Center
Advisors
Date of Issue
2009
Date
Publisher
Monterey, California: Naval Postgraduate School
Language
en_US
Abstract
This paper discusses the usage of direct methods of calculus of variations for real-time optimization of a final turn-into-the-wind maneuver for autonomous guided parafoil-based delivery systems. It reviews several approaches that are currently being pursued by different developers of such systems and discusses the necessity of usage and applicability of a direct method to optimize the final turn. The proposed approach seeks for an optimal solution within a certain class of parameterized inertial trajectories and further employs inverse dynamics to find the corresponding control. This approach has been successfully used in a variety of real-time applications already and proved to work well in a developed miniature aerial delivery system, Snowflake, as well. The paper presents the results of the most recent real drops and ends with a discussion of the developed algorithm as compared to another one, pursued by Draper Laboratory, where instead of parameterizing a reference trajectory the control itself is being parameterized. The paper ends with conclusions.
Type
Conference Paper
Description
European Control Conference, Budapest, Hungary, August 23-26, 2009.
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Citation
Yakimenko, O., and Slegers, N., “Using Direct Methods for Terminal Guidance of Autonomous Aerial Delivery Systems,” Proceedings of the European Control Conference, Budapest, Hungary, August 23-26, 2009.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.