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dc.contributor.advisorKarpenko, Mark
dc.contributor.advisorRoss, I. Michael
dc.contributor.authorSavage, Marta K.
dc.dateDec-12
dc.date.accessioned2013-02-15T23:13:58Z
dc.date.available2013-02-15T23:13:58Z
dc.date.issued2012-12
dc.identifier.urihttp://hdl.handle.net/10945/27898
dc.descriptionApproved for public release; distribution is unlimited.en_US
dc.description.abstractA 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.en_US
dc.description.urihttp://archive.org/details/designndhardware1094527898
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.titleDesign and hardware-in-the-loop implementation of optimal canonical maneuvers for an autonomous planetary aerial vehicleen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical and Aerospace Engineering (MAE)
dc.subject.authorUAVen_US
dc.subject.authorautonomousen_US
dc.subject.authorunmanned aerial vehicleen_US
dc.subject.authormentoren_US
dc.subject.authoroptimizationen_US
dc.subject.authortrajectory planningen_US
dc.subject.authorminimum time problemen_US
dc.subject.authormin timeen_US
dc.subject.authoroptimalen_US
dc.subject.authorDIDOen_US
dc.subject.authorSLUGSen_US
dc.subject.authorautopiloten_US
dc.description.serviceLieutenant, United States Navyen_US
etd.thesisdegree.nameMaster of Science In Astronautical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineAstronautical Engineeringen_US


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