An Integrated Algorithm for Path Planning and Flight Controller Scheduling for Autonomous Helicopters
Egerstedt, Magnus B.
Koo, T. J.
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In this article we investigate how to generate flight trajectories for an autonomous helicopter. Given a set of nominal waypoints we generate trajectories that interpolate close to these points. This path generation is done for two different cases, corresponding to two controllers that either govern position or velocity of the helicopter. Based on a given cost functional, the planner selects the optimal one among these multiple paths. This approach thus provides a systematic way for generating not only the flight path, but also a suitable switching strategy, i.e. when to switch between the different controllers.