Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems
Final rept. 14 Apr 2004-14 Apr 2006
INFORMATION SYSTEMS LABS SAN DIEGO CA
Pagination or Media Count:
Unmanned aerial vehicle and smart munition systems need robust, real-time path generation and guidance systems to avoid terrain obstructions, navigate in hazardous weather conditions, and react to mobile threats such as radar, jammers, and unfriendly aircraft. In Phase 1 of this STTR project, real-time path planning and trajectory generation techniques for two dimensional flight were developed and demonstrated in software simulation. In Phase 2 these algorithms were refined, extended and were demonstrated in flight on a unique low-cost micro-air vehicle with a payload which included three optical flow sensors, a laser ranger, and a video camera. This report is a comprehensive technical summary of the significant work completed in Phase 2 to enable development of autonomous flight control systems which are capable of accomplishing the complex task of path and trajectory planning in dynamic and uncertain environments.
- Pilotless Aircraft
- Computer Programming and Software