Autonomous UAV guidance build-up: Flight-test demonstration and evaluation plan

B. Mettler, M. Valenti, T. Schouwenaars, Y. Kuwata, J. How, J. Paunicka, E. Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations

Abstract

This paper describes plans towards a flight test of an autonomous guidance system for unmanned aerial vehicles (UAVs). The goal of the experiment, which will take place on Boeing's UAV testbed in 2004, is to demonstrate key autonomy capabilities that are critical for future UAV operations. These are enabled using a receding horizon implementation of a trajectory planner formulated as a mixed integer linear program (MILP). Hybrid vehicle dynamics combining multiple linear time-invariant (LTI) modes are used to cover the scope of vehicle dynamics. In addition to the LTI modes, coordinated maneuvers that have inherent operational value can be embedded. The planner also recognizes a number of task primitives. Trajectory safety is guaranteed by computing a rescue path at every time step. Prototype demonstration scenarios have been designed to exercise and evaluate the guidance system's primary autonomy capabilities. The paper also describes the key milestones of the technology buildup and transition to the Boeing open control platform and flight test program.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - Dec 1 2003
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2003 - Austin, TX, United States
Duration: Aug 11 2003Aug 14 2003

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2003
CountryUnited States
CityAustin, TX
Period8/11/038/14/03

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Mettler, B., Valenti, M., Schouwenaars, T., Kuwata, Y., How, J., Paunicka, J., & Feron, E. (2003). Autonomous UAV guidance build-up: Flight-test demonstration and evaluation plan. In AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA Guidance, Navigation, and Control Conference and Exhibit).