Projet Dronisos

1. Introduction

announcement

Scenario

Perform a formation flight like aerobatics patrols do. For example fly in a V shaped formation along a straight line.

Challenges

• Operational: takeoff, landing, communications, staging, reliability, calibration…

• Theoretical:

  • 3D+t guidance
  • online trajectory planning (for initial rendez-vous)
  • verification that a trajectory is possible to fly (given a wind field)
  • modify the trajectory to adapt to changing wind conditions

2. 2D Instance

We begin with a planar simplification of the problem as depicted on figure 1.

2.1 State Space Representation and Differential Flatness

here

2.2 Guidance

3D+T guidance using differential flatness feedforward and LQR state feedback

In this animation, the trajectory consist in a synchronized circle executed at constant ground speed. The controller is seen rejecting the initial perturbation before tracking the trajectory.

2.3 Planning

Optimal Trajectory Planning using direct collocation

In this animation, a set of trajectories is generated for different initial and final configurations. The trajectories are computed sequentially and nothing is done to avoid collisions.