This paper presents flight and validation results of a hybrid control-theoretic guidance algorithm that uses an aircraft's dynamic model to autonomously design agile, realizable trajectories that expand the closed-loop operational envelope of the vehicle and capitalize on its fast natural modes. This method synthesizes the guidance trajectory by optimally combining trajectory elements from a database of trim and agile maneuver flight primitives. Additionally, we have designed and tested a real-time architecture to implement this algorithm that uses dynamic programming principles to best advantage and thus rapidly synthesize agile, reachable space trajectories onboard in real-time and in a feedback loop. An offline computation step in the guidance logic computes and stores the maneuver primitives in a maneuver library; these primitives span a discrete, reachable maneuver sub-space of the particular aircraft and include aggressive (but feasible) maneuvers. In this paper, we present flight data analysis from test flights on a Yamaha RMAX helicopter using this guidance algorithm to complete mission trajectories. We also present simulation results from an onboard, receding horizon computation approach to predict and avoid collisions during the online trajectory synthesis process due to collision threats in an urban flight terrain such as buildings and utility-lines. We present an urban mission scenario and show simulation results using our hybrid maneuver logic to design the guidance trajectory integrated with Georgia Institute of Technology's GTMAX flight control and simulation system.
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