Abstract
This paper examines closed-loop dynamic soaring by small autonomous aircraft. Wind field estimation, trajectory planning, and path-following control are integrated into a system to enable dynamic soaring. The control architecture is described, performance of components of the architecture is assessed in Monte Carlo simulation, and the trajectory constraints imposed by existing hardware are described. Hardware in the loop simulation using a Piccolo SL autopilot module are used to examine the feasibility of dynamic soaring in the shear layer behind a ridge, and the limitations of the system are described. Results show that even with imperfect path following dynamic soaring is possible with currently existing hardware. The effect of turbulence is assessed through the addition of Dryden turbulence in the simulation environment.
| Original language | English (US) |
|---|---|
| Title of host publication | AIAA Guidance, Navigation, and Control Conference |
| DOIs | |
| State | Published - Feb 28 2014 |
| Event | AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 - National Harbor, MD, United States Duration: Jan 13 2014 → Jan 17 2014 |
Publication series
| Name | AIAA Guidance, Navigation, and Control Conference |
|---|
Other
| Other | AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 |
|---|---|
| Country | United States |
| City | National Harbor, MD |
| Period | 1/13/14 → 1/17/14 |
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All Science Journal Classification (ASJC) codes
- Aerospace Engineering
- Control and Systems Engineering
Cite this
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Closing the loop in dynamic soaring. / Bird, John J.; Langelaan, Jack W.; Montella, Corey; Spletzer, John; Grenestedt, Joachim.
AIAA Guidance, Navigation, and Control Conference. 2014. (AIAA Guidance, Navigation, and Control Conference).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Closing the loop in dynamic soaring
AU - Bird, John J.
AU - Langelaan, Jack W.
AU - Montella, Corey
AU - Spletzer, John
AU - Grenestedt, Joachim
PY - 2014/2/28
Y1 - 2014/2/28
N2 - This paper examines closed-loop dynamic soaring by small autonomous aircraft. Wind field estimation, trajectory planning, and path-following control are integrated into a system to enable dynamic soaring. The control architecture is described, performance of components of the architecture is assessed in Monte Carlo simulation, and the trajectory constraints imposed by existing hardware are described. Hardware in the loop simulation using a Piccolo SL autopilot module are used to examine the feasibility of dynamic soaring in the shear layer behind a ridge, and the limitations of the system are described. Results show that even with imperfect path following dynamic soaring is possible with currently existing hardware. The effect of turbulence is assessed through the addition of Dryden turbulence in the simulation environment.
AB - This paper examines closed-loop dynamic soaring by small autonomous aircraft. Wind field estimation, trajectory planning, and path-following control are integrated into a system to enable dynamic soaring. The control architecture is described, performance of components of the architecture is assessed in Monte Carlo simulation, and the trajectory constraints imposed by existing hardware are described. Hardware in the loop simulation using a Piccolo SL autopilot module are used to examine the feasibility of dynamic soaring in the shear layer behind a ridge, and the limitations of the system are described. Results show that even with imperfect path following dynamic soaring is possible with currently existing hardware. The effect of turbulence is assessed through the addition of Dryden turbulence in the simulation environment.
UR - http://www.scopus.com/inward/record.url?scp=84894426907&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84894426907&partnerID=8YFLogxK
U2 - 10.2514/6.2014-0263
DO - 10.2514/6.2014-0263
M3 - Conference contribution
AN - SCOPUS:84894426907
SN - 9781600869624
T3 - AIAA Guidance, Navigation, and Control Conference
BT - AIAA Guidance, Navigation, and Control Conference
ER -