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Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles

Paranjape, Aditya A. and Chung, Soon-Jo and Hutchinson, Seth (2013) Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles. In: AIAA Guidance, Navigation, and Control Conference. AIAA , Reston, VA, Art. No.-2013. ISBN 978-1-62410-224-0. http://resolver.caltech.edu/CaltechAUTHORS:20161130-063732477

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Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20161130-063732477

Abstract

The objective of this paper is to derive a rapid turn-around maneuver for micro aerial vehicles flying in densely cluttered environments, in the form of variable altitude turns optimized for spatial constraints. The design results in a motion primitive which can be implemented on miniature aircraft at large. The primitive is tested on an MAV equipped with just yaw control and no roll control. The maneuver design not only yields a motion primitive for a turn-around maneuver, but also sheds light on the aircraft design features that enable such a maneuver to be accomplished given some information about the obstacle field.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2013-4941DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2013-4941PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© 2013 American Institute of Aeronautics and Astronautics. This research was funded by the Office of Naval Research (ONR) under Award No. N00014-11-1-0088 and by the National Science Foundation (NSF) under Grant IIS-1253758. The second author was funded through a SMART Scholarship by OSD-T&E (Office of Secretary Defense-Test and Evaluation), Defense - Wide / PE0601120D8Z National Defense Education Program (NDEP) / BA-1, Basic Research.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-11-1-0088
NSFIIS-1253758
National Defense Education ProgramPE0601120D8Z
Other Numbering System:
Other Numbering System NameOther Numbering System ID
AIAA Paper2013-4941
Record Number:CaltechAUTHORS:20161130-063732477
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161130-063732477
Official Citation:Aditya A. Paranjape, Soon-Jo Chung, and Seth Hutchinson. "Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles", AIAA Guidance, Navigation, and Control (GNC) Conference, Guidance, Navigation, and Control and Co-located Conferences, (AIAA 2013-4941) http://dx.doi.org/10.2514/6.2013-4941
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72422
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:30 Nov 2016 16:02
Last Modified:18 May 2017 21:31

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