Real-Time computation of safe input sequences for unmanned aerial vehicles

Ofer Eldad, Christian Claudel

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

A new methodology for incorporating simulation-based reachability analysis in determining the safe set of input signals over a finite time horizon was studied. By analyzing the trajectories obtained using the aforementioned input definition, it appears that sufficient variation in the final state is achieved to cover potential controller input. By representing the future safe input signals compactly in the form of an eight-dimensional ellipsoid and by using machine learning to characterize this ellipsoid, a low-powered embedded system can readily access the output of these extensive offline computations. The methodology enables real-time systems to obtain the coefficients of the safety ellipsoid with little computational effort, which is well within the time required to generate a new control solution.

Original languageEnglish (US)
Pages (from-to)2574-2581
Number of pages8
JournalJournal of Guidance, Control, and Dynamics
Volume39
Issue number11
DOIs
StatePublished - Jan 1 2016

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics

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