Real-Time Trajectory Generation for an Autonomous Aero Utility Vehicle with Constraints

"This proposal is focused on enhancing and applying the trajectory generationalgorithms originally developed at Caltech to a small free-flight unmannedAero Utility Vehicle (AUV) that is under development with private funding.Our trajectory generation algorithms are based on a combination of nonlinearand optimal control theory, spline theory, and sequential quadraticprogramming. Furthermore, the algorithms have been successfully demonstratedon a tethered nonlinear flight control experiment at Caltech demonstrating thebenefits of autonomous, real-time, nonlinear trajectory generation. We proposeevaluating our algorithms with a simulation of the AUV under a variety ofnonlinear trajectory generation and mission requirements. The proposed work would also provide the trajectory generationalgorithms to our AUV concept for a hardware demonstration in Phase II. The fast, real-time trajectory generation algorithms and software under development by our team will enable future unmanned vehicles with futuristic capabilities. A global benefit of this proposal would be to enable future unmanned aircraft withautonomous proximity operation, autonomous border control, and strike aircraft likecapabilities. This technology wouldempower exploration vehicles for oil companies and scientists as well as a new generation of search and rescue vehicles that can operate in extreme conditions. Ultimately, we see the potential to create the next revolution in human transportation with ourtechnology."