DID YOU KNOW? DTIC has over 3.5 million final reports on DoD funded research, development, test, and evaluation activities available to our registered users. Click
HERE to register or log in.
Accession Number:
AD1046289
Title:
Quadrotor Intercept Trajectory Planning and Simulation
Descriptive Note:
Technical Report
Corporate Author:
Naval Postgraduate School Monterey United States
Report Date:
2017-06-01
Pagination or Media Count:
91.0
Abstract:
Quadrotor drones pose a safety hazard when operated in or near controlled airspace. A hazardous quadrotor could be intercepted and removed by another quadrotor. In this thesis, we seek to determine if optimal control methods outperform missile control methods when applied to a quadrotor drone performing an intercept with a moving target. This is achieved by simulating the intercept of a target with a quadrotor and comparing the performance of several on-line trajectory planners. Two missile control based trajectory planners, pursuit guidance and proportional navigation, are compared against an optimal control trajectory planner. The time and energy used by a simulated quadrotor to intercept a target are the performance measures used for comparison. The trajectory planners use a three-degree of freedom model, and the simulated quadrotor uses a six-degree of freedom model. Each trajectory planner is compared in a crossing, head-on, and tail-chase geometry. All of the on-line results are compared to an off-line optimal solution. The results show that the off-line optimal control method performs better than the on-line trajectory planners, regardless of intercept geometry type. The proportional navigation planner has the best performance of the on-line trajectory planners.
Distribution Statement:
APPROVED FOR PUBLIC RELEASE
