Implementation Issues of Real-Time Trajectory Generation on Small UAVs

The transition from a mathematical algorithm to a physical hardware implementation is non-trivial. This thesis discusses the issues involved in the transition from the theory of real-time trajectory generation all the way through a hardware experiment. Documentation of the validation process as well as modifications to the existing theory as a result of hardware testing are treated at length. The results of hardware experimentation show that trajectory generation can be done in real-time in a manner facilitating coordination of multiple small UAVs.

Name thesis:degree_name

MS

Grantor dc:publisher

Brigham Young University - Provo

Author dc:creator

• Kingston, Derek B.

• trajectory generation
• UAV
• attitude estimation
• implementation issues
• real-time
• real time
• Electrical and Computer Engineering

Language dc:language

English

Repository record dc:identifier

https://scholarsarchive.byu.edu/etd/121

OAI identifier oai:identifier

oai:scholarsarchive.byu.edu:etd-1120