Product Details
Mission Design and Optimization Tool
Created: 2022
Gauss Pseudospectral Method, Non-linear Programming, Optimal Control, Trajectory
Optimization, Unmanned Aerial Vehicle
The use of multirotor Unmanned Aerial Vehicles (UAVs) in industrial and civil
applications has seen a rapid development. This is to be attributed to their
simple mechanical design, along with hovering and maneuvering capabilities,
making them a popular choice in applications such as aerial photography, cargo
transport, infrastructure inspection or disaster management. Mission requirements
tzpically include many variables such as UAV target location, payload capacity or
required time of flight combined with environmental constraints such as no-fly
zones or terrain. These conditions would be hard to satisfy mutually without the
use of modern trajectory optimization techniques. Trajectory optimization
problems are often formulated using optimal control theory. An Optimal Control
Problem (OCP) for generalized multirotor UAV introducing environmental
constraints has been formulated and solved by a direct transcription approach,
thus converting the OCP to a nonlinear parameter optimization problem.
Furthermore, a Gauss pseudospectral method for transcription with high accuracy
has been implemented, enabling to design a framework for UAV trajectory
optimization problems in constrained environments.
Laboratoř Aeroworks (místnost Q203), Fakulta informačních technologií VUT v Brně, Božetěchova 2, 612 66 Brno https://www.fit.vut.cz/research/product/775/.cs