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

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

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

17 Citations (Scopus)

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

Fingerprint

Unmanned aerial vehicles (UAV)
Wind effects
Testing
Nonlinear programming
Motion planning
Cameras
Aircraft
Planning

All Science Journal Classification (ASJC) codes

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

Cite this

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).
Geiger, Brian R. ; Horn, Joseph Francis ; Sinsley, Gregory L. ; Ross, James A. ; Long, Lyle Norman ; Niessner, Albert F. / Flight testing a real time implementation of a uav path planner using direct collocation. Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007. 2007. pp. 2950-2965 (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007).
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Geiger, BR, Horn, JF, Sinsley, GL, Ross, JA, Long, LN & Niessner, AF 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. Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007, vol. 3, pp. 2950-2965, AIAA Guidance, Navigation, and Control Conference 2007, Hilton Head, SC, United States, 8/20/07.

Flight testing a real time implementation of a uav path planner using direct collocation. / Geiger, Brian R.; Horn, Joseph Francis; Sinsley, Gregory L.; Ross, James A.; Long, Lyle Norman; Niessner, Albert F.

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007. 2007. p. 2950-2965 (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007; Vol. 3).

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

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Geiger BR, Horn JF, Sinsley GL, Ross JA, Long LN, Niessner AF. 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. 2007. p. 2950-2965. (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007).