Flying between obstacles with an autonomous knife-edge maneuver
Author(s)Barry, Andrew J. (Andrew James)
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
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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.
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).
DepartmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology
Electrical Engineering and Computer Science.