31th Congress of the International Council of the Aeronautical Sciences

06.2 - Flight Dynamics and Control (UAV related)

PRACTICAL IMPLEMENTATION OF A TRAJECTORY PLANNING ALGORITHM FOR AN AUTONOMOUS UAV

J.-P. Theron╣, L. Dala, Northumbria University Newcastle, United Kingdom; D.N. Wilke╣, P. Barrier, UAS consultant, South Africa; ╣University of Pretoria, South Africa

An inverse dynamics trajectory planning algorithm, realised for a local planning scenario, was implemented on UAV hardware for optimal trajectory planning of autonomous UAV flight in low altitude penetration missions. The system was then tested in a high-level hardware-in-the-loop simulation, where only the UAV flight was simulated while all the UAV functions were executed by the UAV hardware.


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