Abstract Title

Energy Optimal Control and Path Planning Implementation, Validation and Verification

Authors' Class Standing

Kevin Vicencio, Junior Chelsea Katan, Senior

Lead Presenter

Kevin Vicencio

Faculty Mentor Name

Iacopo Gentilini, Ken Bordignon

Format Preference

Demonstration

Abstract

In multi-rotor, UAV applications, control and path planning are critical, preliminary steps towards energy optimization. Different aspects of control and path planning pertaining to a hexacopter test platform were evaluated as follows. An interface to generate realistic, three-dimensional, multi-shaped, goal regions for practical scenarios was developed. In addition, an algorithm was produced to solve for the near-optimal path between goal regions. A fifth-order, proportional – integral – derivative controller was designed to closely follow the designated path produced. These preliminary control and path planning methods were developed for integration into an Ignite Research Grant funded hexacopter to experimentally validate theoretical results.

Location

AC1-115 (Bldg. 74)

Start Date

4-4-2014 1:25 PM

End Date

4-4-2014 1:40 PM

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Apr 4th, 1:25 PM Apr 4th, 1:40 PM

Energy Optimal Control and Path Planning Implementation, Validation and Verification

AC1-115 (Bldg. 74)

In multi-rotor, UAV applications, control and path planning are critical, preliminary steps towards energy optimization. Different aspects of control and path planning pertaining to a hexacopter test platform were evaluated as follows. An interface to generate realistic, three-dimensional, multi-shaped, goal regions for practical scenarios was developed. In addition, an algorithm was produced to solve for the near-optimal path between goal regions. A fifth-order, proportional – integral – derivative controller was designed to closely follow the designated path produced. These preliminary control and path planning methods were developed for integration into an Ignite Research Grant funded hexacopter to experimentally validate theoretical results.