ICUAS'17 Paper Abstract

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Paper ThB1.5

Blouin, Charles (RCbenchmark and University of Ottawa), Lanteigne, Eric (University of Ottawa), Gueaieb, Wail (University of Ottawa)

Optimal Control for the Trajectory Planning of Micro Airships

Scheduled for presentation during the "Micro- and Mini- UAS - II" (ThB1), Thursday, June 15, 2017, 15:05−15:25, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on July 22, 2019

Keywords Micro- and Mini- UAS, Control Architectures, Path Planning

Abstract

The objective of this paper is to demonstrate the application of optimal control for generating dynamically constrained minimal time trajectories in micro unmanned airships. By design, airships are generally underactuated and underpowered limiting their maneuvering capabilities. Using a simplified dynamic model derived with experimentally derived coefficients, two trajectory planning simulations are solved using optimal control. The generated trajectories are then evaluated experimentally on a micro airship to demonstrate that optimal control can be used in open loop over short distances.

 

 

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