Design and flight test evaluation of guidance system for autonomous rotorcraft

Olivier Toupet, Bernard Mettler

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

10 Scopus citations

Abstract

This paper describes the development and evaluation of a new guidance system for unmanned helicopter. The trajectory planning technique combines a receding horizon trajectory optimization based on mixed-integer linear programming with a global cost-to-go maps computed in near real-time using dynamic programming. The resulting system allows for complex, long-range mission scenarios that involve dynamically changing features. The paper gives a full description of the capabilities and functions supported by the planner software. Hardware-in-the-loop simulations were used to evaluate and demonstrate the system's performance and capabilities; the final paper will also include results from the flight-test demonstration on a Boeing Renegade unmanned helicopter.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages1288-1297
Number of pages10
ISBN (Print)1563478196, 9781563478192
DOIs
StatePublished - 2006
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Volume2

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

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  • Cite this

    Toupet, O., & Mettler, B. (2006). Design and flight test evaluation of guidance system for autonomous rotorcraft. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006 (pp. 1288-1297). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006; Vol. 2). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2006-6201