Flight testing a real time implementation of a uav path planner using direct collocation

Brian R. Geiger, Joseph F. Horn, Gregory L. Sinsley, James A. Ross, Lyle N. Long, Albert F. Niessner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations

Abstract

Flight tests of a path planning algorithm using direct collocation with nonlinear programming (DCNLP) are presented. The path planner operates in real time onboard an unmanned aerial vehicle for these tests. The method plans a path that maximizes the time a target is in view of a camera onboard the aircraft. Tests include surveilling a stationary and moving target while compensating for any wind effects. Additionally, the effect of the use of road data in planning the path is simulated by tracking a second UAV flying a predefined pattern. Finally, a method of commanding the observation of a target from a specific line of sight is presented.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
Pages2950-2965
Number of pages16
StatePublished - Dec 24 2007
EventAIAA Guidance, Navigation, and Control Conference 2007 - Hilton Head, SC, United States
Duration: Aug 20 2007Aug 23 2007

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
Volume3

Other

OtherAIAA Guidance, Navigation, and Control Conference 2007
CountryUnited States
CityHilton Head, SC
Period8/20/078/23/07

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Geiger, B. R., Horn, J. F., Sinsley, G. L., Ross, J. A., Long, L. N., & Niessner, A. F. (2007). Flight testing a real time implementation of a uav path planner using direct collocation. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007 (pp. 2950-2965). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007; Vol. 3).