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Motion Primitives for an Autorotating Helicopter


Sanjiban Choudhury

Overview


In this project, we design a set of motion primitives for a helicopter after its engines have failed.

Course Details


Course Title: Kinematics, Dynamics and Control
Instructor: Hartmut Geyer

Abstract


In this paper, we introduce a design criterion for motion primitives of a helicopter when engine failure occurs. A flight plan followed by such a helicopter after it has established autorotation consists of concatenation of such well-defined motion primitives. A library of primitives act as an useful finite action space for a motion planner to search over. Subject to the constrained flight dynamics, a set of useful trim or steady state motions are identified which either maximize glide slope or minimize descent speed. Incorporating these trim motions allows the system to coast along a trajectory for an arbitrary amount of time. To transition from one trim to another, a set of maneuvers or finite time trajectories are defined and solved for using optimal control.

Details


Here is the final report.

Here is the final presentation.