An Interpolation Approach to Optimal Trajectory Planning for Helicopter Unmanned Aerial Vehicles
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Authors
Adams, Jerrod C.
Subjects
Nonlinear Model
State and Control Variables
Cost Function
Trajectory Optimization
Target Heading Intercept
Bilinear Interpolation
State and Control Variables
Cost Function
Trajectory Optimization
Target Heading Intercept
Bilinear Interpolation
Advisors
Kang, Wei
Date of Issue
2012-06
Date
12-Jun
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
This thesis explores numerical methods to provide real-time control inputs to achieve an optimal trajectory which minimizes the time required for a Helicopter Unmanned Aerial Vehicle (HUAV) to reorient to a given target. A library of optimal trajectories is populated using a pseudospectral computational algorithm applied to the mathematical model developed by the National University of Singapore and Singapore Department of Defense to simulate flight characteristics for their HeLion small scale HUAV system. The model is a complex system of non-linear differential equationsfifteen state variables and four control variablesused to simulate the aerodynamic forces on the HUAV. Then, using the library of optimal trajectories for known target locations, we apply interpolation methods to provide control inputs in order to intercept an attack heading to a target more quickly than an online, full scale optimization approach. All simulations in this thesis are modeled using the MATLAB program.
Type
Thesis
Description
Series/Report No
Department
Applied Mathematics