Design and hardware-in-the-loop implementation of optimal canonical maneuvers for an autonomous planetary aerial vehicle
Download
Author
Savage, Marta K.
Date
2012-12Advisor
Karpenko, Mark
Ross, I. Michael
Metadata
Show full item recordAbstract
A truly autonomous aerial vehicle is required for conducting aerial missions at distances great enough to cause time lag in communications, such as on other planets. This level of autonomy also reduces the requirement for trained UAV pilots to fly round-the-clock missions. Development of optimal canonical maneuvers is a step towards achieving real-time optimal trajectory generation and more fully autonomous aircraft capable of independent and efficient flight maneuvering. This thesis develops a model of the MONARC aerial vehicle and sets up the optimal control problem for generating canonical maneuver profiles. The DIDO optimal control software is used in order to generate time-optimal trajectories for flight implementation on the MONARC test bed. The ability of the MONARC to fly the optimal trajectories is verified using a 6DOF SIMULINK model. Several canonical maneuvers were developed and optimized to generate trajectories for multiple flight scenarios. One of these cases is analyzed for implementation as part of a Hardware-in-the-Loop (HIL) simulation. This HIL test will verify that the optimization model has sufficient fidelity to be used to generate optimal trajectories that can be physically flown by the MONARC.
Collections
Related items
Showing items related by title, author, creator and subject.
-
Generalized Optimal Control for Networked Autonomous Vehicles in Uncertain Domains [video]
Kragelund, Sean (2017-04-12);Networked autonomous vehicles have great potential in a wide range of littoral sensing applications, including mine countermeasures (MCM), undersea warfare (USW), and intelligence, surveillance, and reconnaissance (ISR) ... -
RESOURCE-CONSTRAINED AUTONOMOUS OPERATIONS OF SATELLITE CONSTELLATIONS AND GROUND STATION NETWORKS
Minelli, Giovanni (Monterey, CA; Naval Postgraduate School, 2018-09);To address the growing population of small satellite constellations that rely on distributed ground station networks, a dynamic optimization problem is formulated and solved. Specifically, this dissertation addresses the ... -
Optimal Multi-Vehicle Motion Planning using Bernstein Approximants
Cichella, Venanzio; Kaminer, Isaac; Walton, Claire; Hovakimyan, Naira; Pascoal, Antonio M. (IEEE, 2020);This paper presents a computational framework to efficiently generate feasible and safe trajectories for multiple autonomous vehicle operations. We formulate the optimal motion planning problem as a continuous-time optimal ...