TRAJECTORY GENERATION BASED GUIDANCE AND CONTROL OF ROTORCRAFT UNMANNED AERIAL VEHICLES

Abstract

This thesis studies the guidance and control problem of rotorcraft unmanned aerial vehicles in general environments targeting complex missions such as multi-vehicle stage performance and obstacle-strewn navigation. Modern unmanned aerial vehicles are required to perform precise maneuvers utilizing their dynamic capabilities to achieve task elements which are inaccessible by other means. Pre-planned and high-quality flying trajectories are adopted to satisfy people's subjective opinions in applications like the multi-drone light show and camera path design. On the other hand, in a dynamic world, sensor-guided and sensor-guarded actions are necessary, as there is no perfectly predefined path suitable for the whole mission, and motions need to be solved instantly to deal with unforeseen changes.