Development of Control Algorithm for the Autonomous Gliding Delivery System

Kaminer, Isaac; Yakimenko, Oleg A.

doi:10.2514/6.2003-2116

Cited by 45 publications

(29 citation statements)

References 21 publications

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“…This paper extends the results reported by the authors in Ref. 18 to the case of coordinated delivery of multiple payloads. The paper is organized as follows.…”

supporting

confidence: 87%

Coordinated Payload Delivery using High Glide Parafoil Systems

Kaminer

Yakimenko

Pascoal³

2005

18th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar

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“…This paper extends the results reported by the authors in Ref. 18 to the case of coordinated delivery of multiple payloads. The paper is organized as follows.…”

supporting

confidence: 87%

Coordinated Payload Delivery using High Glide Parafoil Systems

Kaminer

Yakimenko

Pascoal³

2005

18th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar

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“…Of course, neither of systems attempt to land into the wind. (It should be noted though that this moth-pattern algorithm could be easily modified to allow landing into the winds [5]. Since it is well understood that terminal guidance determines touchdown accuracy it is crucial to adapt the guidance algorithm (computing a reference trajectory) to changing winds, i.e.…”

Section: Terminal Guidance Strategiesmentioning

confidence: 99%

Using direct methods for terminal guidance of autonomous aerial delivery systems

Yakimenko

Slegers

2009

2009 European Control Conference (ECC)

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Abstract-This paper discusses the usage of direct methods of calculus of variations for real-time optimization of a final turninto-the-wind maneuver for autonomous guided parafoil-based delivery systems. It reviews several approaches that are currently being pursued by different developers of such systems and discusses the necessity of usage and applicability of a direct method to optimize the final turn. The proposed approach seeks for an optimal solution within a certain class of parameterized inertial trajectories and further employs inverse dynamics to find the corresponding control. This approach has been successfully used in a variety of real-time applications already and proved to work well in a developed miniature aerial delivery system, Snowflake, as well. The paper presents the results of the most recent real drops and ends with a discussion of the developed algorithm as compared to another one, pursued by Draper Laboratory, where instead of parameterizing a reference trajectory the control itself is being parameterized. The paper ends with conclusions. 1

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“…The research conducted during these government programs has led to the design of a three phase flight profile for parafoil guidance that has since been adopted throughout the airdrop community [22][23][24]. This profile consists of a homing phase intended to steer the parafoil toward the target location, an energy management phase designed to descend over the target region, and a terminal guidance phase for performing the final approach maneuvers required for landing.…”

Section: Introductionmentioning

confidence: 99%

Analytic Chance Constraints for the Robust Guidance of Autonomous Parafoils

Ellertson

2016

AIAA Infotech @ Aerospace

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Autonomously guided parafoil systems can deliver supplies and aid to remote, geographically diverse locations, while providing important safety and logistical advantages over ground-based transportation methods. A key challenge facing modern airborne delivery systems, such as parafoils, is the ability to accurately and consistently deliver supplies into difficult, complex terrain. Parafoil guidance algorithms must be able to generate feasible trajectory solutions to the target location within highly constrained terrain environments and from a wide range of initial conditions. Robustness is critical for successful payload delivery in the presence of uncertain atmospheric wind disturbances.This thesis presents two online trajectory planning algorithms for autonomous parafoil guidance in complex terrain and wind environments. These -algorithms are capable of operating from arbitrary initial conditions, including altitude, and are robust to wind disturbances that may be highly dynamic throughout terminal descent. The first algorithm, known as Analytic CC-RRT, builds upon the framework of chance-constrained rapidly-exploring random trees (CC-RRT). This planner enables fast incremental trajectory construction in cluttered, non-convex environments, while using chance constraints to ensure probabilistic feasibility. The designed costto-go function prioritizes target accuracy and upwind landings through the selection of partial paths that intelligently consider current and reachable future states. A trained multi-class wind uncertainty model is introduced to classify and anticipate the effect of future wind disturbances online. Utilizing this model, robustness to wind variations is achieved via a novel analytic uncertainty sampling technique, allowing the probability of constraint violation to be efficiently evaluated against arbitrary and aggressive terrain.The second algorithm, known as CC-BLG, incorporates the Analytic CC-RRT proactive wind model and uncertainty sampling technique into the optimized BandLimited Guidance (BLG) framework. Through the design of a novel risk-based objective function, CC-BLG trajectories efficiently balance the parafoil performance metrics of landing accuracy and landing speed with the risk of off-nominal terrain 3 collisions caused by future wind disturbances. Proposed extensions to the analytic uncertainty sampling technique are shown to yield enhanced planning robustness by refining the estimation of trajectory risk. Multi-phase CC-BLG path planning enables initialization of parafoil terminal guidance from potentially high altitudes, while discrete reachability set approximation is used to maintain robust obstacle avoidance over disjoint planning horizons.Extensive Monte Carlo simulation analysis demonstrates that the Analytic CC-RRT and CC-BLG algorithms achieve significant improvements in mean and worstcase landing accuracy within complex terrain scenarios relative to the state-of-the-art Band-Limited Guidance (BLG) algorithm. Flight test experiments conducted with a full-scal...

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Development of Control Algorithm for the Autonomous Gliding Delivery System

Cited by 45 publications

References 21 publications

Coordinated Payload Delivery using High Glide Parafoil Systems

Coordinated Payload Delivery using High Glide Parafoil Systems

Using direct methods for terminal guidance of autonomous aerial delivery systems

Analytic Chance Constraints for the Robust Guidance of Autonomous Parafoils

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