| dc.contributor |
Yun, Xiaoping |
|
| dc.contributor |
Romano, Marcello |
|
| dc.contributor |
Hutchins, Robert |
|
| dc.contributor |
Electrical and Computer Engineering (ECE) |
|
| dc.creator |
Allen, Robert L., III |
|
| dc.date |
Jun-17 |
|
| dc.date |
2017-08-14T16:48:44Z |
|
| dc.date |
2017-08-14T16:48:44Z |
|
| dc.date |
2017-06 |
|
| dc.date.accessioned |
2022-05-19T07:35:11Z |
|
| dc.date.available |
2022-05-19T07:35:11Z |
|
| dc.identifier |
http://hdl.handle.net/10945/55627 |
|
| dc.identifier.uri |
http://localhost:8080/xmlui/handle/CUHPOERS/100061 |
|
| dc.description |
Quadrotor drones pose a safety hazard when operated in or near controlled airspace. A hazardous quadrotor could be intercepted and removed by another quadrotor. In this thesis, we seek to determine if optimal control methods outperform missile control methods when applied to a quadrotor drone performing an intercept with a moving target. This is achieved by simulating the intercept of a target with a quadrotor and comparing the performance of several on-line trajectory planners. Two missile control-based trajectory planners, pursuit guidance and proportional navigation, are compared against an optimal control trajectory planner. The time and energy used by a simulated quadrotor to intercept a target are the performance measures used for comparison. The trajectory planners use a three-degree of freedom model, and the simulated quadrotor uses a six-degree of freedom model. Each trajectory planner is compared in a crossing, head-on, and tail-chase geometry. All of the on-line results are compared to an off-line optimal solution. The results show that the off-line optimal control method performs better than the on-line trajectory planners, regardless of intercept geometry type. The proportional navigation planner has the best performance of the on-line trajectory planners. |
|
| dc.description |
http://archive.org/details/quadrotorinterce1094555627 |
|
| dc.description |
Lieutenant, United States Navy |
|
| dc.description |
Approved for public release; distribution is unlimited. |
|
| dc.format |
application/pdf |
|
| dc.publisher |
Monterey, California: Naval Postgraduate School |
|
| dc.rights |
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States. |
|
| dc.subject |
quadrotor drone |
|
| dc.subject |
micro interceptor |
|
| dc.subject |
trajectory planner |
|
| dc.subject |
optimal control |
|
| dc.subject |
missile guidance law |
|
| dc.subject |
intercept trajectory |
|
| dc.subject |
optimal trajectory |
|
| dc.title |
Quadrotor intercept trajectory planning and simulation |
|
| dc.type |
Thesis |
|