Guidance performance benchmarking for autonomous rotorcraft

Berenice F Mettler May, Zhaodan Kong, Chad Goerzen, Matthew Whalley

Research output: Contribution to journalReview article

3 Scopus citations

Abstract

This paper describes a framework for performance evaluation of autonomous guidance systems. The elements of the framework consist of a set of spatial geometries, flight tasks, performance metrics, a flightdynamic model, and baseline solutions. The spatial benchmarks consist of six tasks in simple geometrical environments and 10 tasks inmore complex urban environments based on a real digital terrain elevation map. The framework also includes a set of performance metrics used to compare trajectories. The performance baselines used in the proposed framework are near-optimal solutions computed using one of two trajectory optimization methods: numerical optimization based on nonlinear programming for the simple geometric environments and a motion primitive automaton for problems involving the urban environments. The paper concludes with a demonstration of the benchmarking framework using the Obstacle Field Navigation system developed by the Army Aeroflightdynamics Directorate.

Original languageEnglish (US)
Article number042009
JournalJournal of the American Helicopter Society
Volume59
Issue number4
DOIs
StatePublished - Oct 1 2014

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