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A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft

Lorenz, Sven and Adolf, Florian-Michael (2011) A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft. In: Advantages in Aerospace Guidance, Navigation and Control, pp. 3-14. Springer. CEAS EuroGNC 2011, 13.-15. April 2011, München. ISBN 978-3-642-19816-8.

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Abstract

A decoupled approach to trajectory generation based on a cubic spline geometry formulation is introduced. The distinct consideration of boundary conditions yields a continuously differentiable trajectory definition such that path tracking errors are minimized during flight. A curvature-based, dimensionless space-filling curve allows to determine a suitable velocity profile along the path for hover-capable vehicles. Tracking of the trajectory is enabled by a conversion between the spline parameters and the arc length of the spline. In the past years, this approach in combination with a suitable trajectory tracking control has been successfully flight tested with an unmanned helicopter.

Document Type:Conference or Workshop Item (Speech)
Title:A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft
Authors:
AuthorsInstitution or Email of Authors
Lorenz, Svensven.lorenz@dlr.de
Adolf, Florian-MichaelFT-UL
Date:2011
Journal or Publication Title:Advantages in Aerospace Guidance, Navigation and Control
Page Range:pp. 3-14
Publisher:Springer
ISBN:978-3-642-19816-8
Status:Published
Keywords:trajectory generation, cubic spline, space curve, tracking, unmanned helicopter, UAV, ARTIS
Event Title:CEAS EuroGNC 2011
Event Location:München
Event Type:international Conference
Event Dates:13.-15. April 2011
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Sven Lorenz
Deposited On:10 May 2011 14:45
Last Modified:30 Jun 2011 13:42

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