Click to edit Master title style. Optimal Trajectory Generation for Aerial Towed Cable System Using APMonitor
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1 Click to edit Master title style Optimal Trajectory Generation for Aerial Towed Cable System Using APMonitor Liang Sun Multiple AGent Intelligent Coordination & Control (MAGICC) Laboratory Department of Electrical and Computer Engineering Department of Mechanical Engineering Brigham Young University, Provo, UT, USA 84602
2 Outline Overview of UAVs Overview of Aerial Recovery Basic concept and System dynamics Flight test results Motivations of using APMonitor Preliminary results in APMonitor Simulation (2D, 1-link cable) OTG (2D, 1-link cable) OTG (3D, 1-link cable) OTG (3D, multi-link cable, no wind) OTG (3D, multi-link cable, constant wind) Future work
3 Outline Overview of UAVs Overview of Aerial Recovery Basic concept and System dynamics Flight test results Motivations of using APMonitor Preliminary results in APMonitor Simulation (2D, 1-link cable) OTG (2D, 1-link cable) OTG (3D, 1-link cable) OTG (3D, multi-link cable, no wind) OTG (3D, multi-link cable, constant wind) Future work
4 Overview of UAVs
5 Overview of UAVs Communication and Control UAV Modem Autopilot Ground Station Combox RS232 Virtual Cockpit VCListen.mex Matlab
6 Overview of UAVs Cool videos! Fixed wing Gc&NR=1 Quadrotor Aggressive Maneuvers Builder _embedded
7 Outline Overview of UAVs Overview of Aerial Recovery Basic concept and System dynamics Flight test results Motivations of using APMonitor Preliminary results in APMonitor Simulation (2D, 1-link cable) OTG (2D, 1-link cable) OTG (3D, 1-link cable) OTG (3D, multi-link cable, no wind) OTG (3D, multi-link cable, constant wind) Future work
8 Overview of Aerial Recovery Question: How can we retrieve Micro Air Vehicles (MAVs) in the air after they complete their missions?
9 Retrieval strategies
10 Basic concept
11 System dynamics Cable-drogue dynamics using Newton 2 nd law
12 Outline Overview of UAVs Overview of Aerial Recovery Basic concept and System dynamics Flight test results Motivations of using APMonitor Preliminary results in APMonitor Simulation (2D, 1-link cable) OTG (2D, 1-link cable) OTG (3D, 1-link cable) OTG (3D, multi-link cable, no wind) OTG (3D, multi-link cable, constant wind) Future work
13 Flight test setup
14 Flight test results Drogue orbit with flat mothership orbit in wind Flight Test Simulation
15 Flight test results (cont d)
16 Outline Overview of UAVs Overview of Aerial Recovery Basic concept and System dynamics Flight test results Motivations of using APMonitor Preliminary results in APMonitor Simulation (2D, 1-link cable) OTG (2D, 1-link cable) OTG (3D, 1-link cable) OTG (3D, multi-link cable, no wind) OTG (3D, multi-link cable, constant wind) Future work
17 Motivations of using APMonitor Replan the desired mothership trajectory each circle using the updated wind estimation Replan every minite Constraints: mothership has its operational limits: airspeed, roll angle, pitch angle Large amount of states in dynamic equations 5-link cable = 30 states
18 Outline Overview of UAVs Overview of Aerial Recovery Basic concept and System dynamics Flight test results Motivations of using APMonitor Preliminary results in APMonitor Simulation (2D, 1-link cable) OTG (2D, 1-link cable) OTG (3D, 1-link cable) OTG (3D, multi-link cable, no wind) OTG (3D, multi-link cable, constant wind) Future work
19 Simulation mode 2-D 1-link model Simulation mode with no constraints Solution time: sec.
20 Trajectory Generation (2-D 1-link model) nlc mode, solver: IPOPT CVs: Vm, Tension Solution time: sec.
21 TG (3D, single-link, no wind) nlc mode, solver: IPOPT CVs: Vm, Tension Solution time: sec.
22 TG (3D, multi-link, no wind) nlc mode, solver: IPOPT CVs: Vm Solution time: sec.
23 TG (3D, multi-link, wind) nlc mode, solver: IPOPT CVs: CVs Wind (3,0,0) m/s Solution time: sec.
24 Outline Overview of UAVs Overview of Aerial Recovery Basic concept and System dynamics Flight test results Motivations of using APMonitor Preliminary results in APMonitor Simulation (2D, 1-link cable) OTG (2D, 1-link cable) OTG (3D, 1-link cable) OTG (3D, multi-link cable, no wind) OTG (3D, multi-link cable, constant wind) Future work
25 Future work Decrease the solution time different solver different configuration of the problem Add more constraints Tension, roll angle, pitch angle, and etc. Motion planning of orbit-insertion-removal Fly into an orbit to perform the retrieval and leave out of the orbit Orbit regulation problem Find an optimal orbit for the mothership to minimize the drogue altitude deviation
26 Thank You!
27 Outline Overview of UAVs Overview of Aerial Recovery Basic concept and System dynamics Flight test results Motivations of using APMonitor Preliminary results in APMonitor Simulation (2D, 1-link cable) OTG (2D, 1-link cable) OTG (3D, 1-link cable) OTG (3D, multi-link cable, no wind) OTG (3D, multi-link cable, constant wind) Future work Questions?
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