Unmanned aerial vehicle and smart monition systems need robust, real-tire path generation and guidance systems to avoid terrain obstructions, navigate in hazardous weather conditions, and react to mobile threats such as radar, jammers, and unfriendly aircraft. In Phase-I of this STIR project, real-time path planning and trajectory generation techniques for two-dimensional flight were developed and demonstrated in software simulation. In Phase-II these algorithms were refined extended and were demonstrated in flight on a unique low-cost micro-air vehicle with a payload which included three optical flow sensors, a laser ranger, and a video mera.
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