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
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.