06.2 - Flight Dynamics and Control (UAV related)
PRACTICAL IMPLEMENTATION OF A TRAJECTORY PLANNING ALGORITHM FOR AN AUTONOMOUS UAV
J.-P. Theron¹, L. Dala, Northumbria University Newcastle, United Kingdom; D.N. Wilke¹, P. Barrier, UAS consultant, South Africa; ¹University 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.