Flying between obstacles with an autonomous knife-edge maneuver
Name
834084465-MIT.pdf
Description
Full printable version
Size
5.85 MB
Format
Adobe PDF
Checksum (MD5)
530d2d4511a780a102c6272a4c779a63
Author(s)
Barry, Andrew J. (Andrew James)
Advisor(s)
Russ Tedrake.
Date Issued
2012
Publisher
Massachusetts Institute of Technology
Abstract
We develop an aircraft and control system that is capable of repeatedly performing a high speed (7m/s or 16 MPH) "knife-edge" maneuver through a gap that is smaller than the aircraft's wingspan. The maneuver consists of flying towards a gap, rolling to a significant angle, accurately navigating between the obstacles, and rolling back to horizontal. The speed and roll-rate required demand a control system capable of highly precise, repeatable maneuvers. We address the necessary control theory, path planning, and hardware requirements for such a maneuver, and give a proposal for a new system that may improve upon the existing techniques.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 55-58).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
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