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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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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.

Item URL in elib:https://elib.dlr.de/69607/
Document Type:Conference or Workshop Item (Speech)
Title:A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lorenz, Svensven.lorenz (at) dlr.deUNSPECIFIED
Adolf, Florian-MichaelFT-ULUNSPECIFIED
Journal or Publication Title:Advantages in Aerospace Guidance, Navigation and Control
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 3-14
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 (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Lorenz, Dr. Sven
Deposited On:10 May 2011 14:45
Last Modified:30 Jun 2011 13:42

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