An Interpolation Approach to Optimal Trajectory Planning for Helicopter Unmanned Aerial Vehicles
Adams, Jerrod C.
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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.
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