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Real-Time Constrained Trajectory Generation Applied to a Flight Control Experiment
Abstract A computational approach to generate real-
A computational approach to generate real-time, optimal trajectories for a flight control experiment is presented. Minimum time trajectories are computed for hover-to-hover and forward flight maneuvers. Instantaneous changes in the trajectory constraints that model obstacles and threats are also investigated. Experimental results using the Nonlinear Trajectory Generation software package show good closed loop performance for both maneuvers and in the presence of obstacles. Success of the algorithm demonstrates that high-confidence real-time trajectory generation is achievable in spite of the highly nonlinear and non-convex nature of the problem.
near and non-convex nature of the problem.  +
Authors Mark B. Milam, Ryan Franz, Richard M. Murray  +
ID 2001j  +
Source Submitted, 2002 IFAC World Congress  +
Tag mfm01-ifac  +
Title Real-Time Constrained Trajectory Generation Applied to a Flight Control Experiment +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:19:12  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mfm02-ifac.pdf  +
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Real-Time Constrained Trajectory Generation Applied to a Flight Control Experiment + Title
 

 

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