Negative-g Trajectory Generation Using Quaternion-Based Inverse Dynamics

摘要

UNMANNED air vehicles (UAVs) are in regular military use fornintelligence, surveillance, target acquisition, reconnaissance,nand ground attack missions. They are increasingly being used forncivil purposes, including security patrolling and environmentalnmonitoring. For surveillance and reconnaissance missions, it isncritical that the unmanned aircraft provides a stable platform for itsnonboard sensors and communications. As the number, scope, andncomplexity of UAV missions increase, the need for autonomous,nonboard, near-real-time trajectory generation increases. As well asnsatisfying the boundary, path, control, and aircraft dynamicnconstraints, the trajectories need to satisfy constraints arising fromnsensor dynamics and fields of view.