{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/8540"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/8540","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Applied fast maneuvering using a hybrid controller","abstract":"Guidance and control of autonomous vehicles is a difficult and often calculation-intensive process. Current control approaches limit the functionality of autonomous vehicles. The approach applied in this thesis is to use a discrete-state model of the vehicle dynamics to build a hybrid automaton. By creating a set of stable trim states and building a library of maneuvers, the on-line optimization problem was made significantly simpler. The implementation of the control methodology for an autonomous helicopter was expanded to include three-dimensional path planning and pilot-inspired maneuvers. The hybrid controller was then adapted and applied to an unpowered parafoil in simulation. The parafoil hybrid controller was also implemented on a DSP chip and used in a real-time DSP-processor-based simulation of the system. This demonstrated the ability to apply the hybrid controller logic to a variety of vehicles.","abstract_html":"Guidance and control of autonomous vehicles is a difficult and often calculation-intensive process. Current control approaches limit the functionality of autonomous vehicles. The approach applied in this thesis is to use a discrete-state model of the vehicle dynamics to build a hybrid automaton. By creating a set of stable trim states and building a library of maneuvers, the on-line optimization problem was made significantly simpler. The implementation of the control methodology for an autonomous helicopter was expanded to include three-dimensional path planning and pilot-inspired maneuvers. The hybrid controller was then adapted and applied to an unpowered parafoil in simulation. The parafoil hybrid controller was also implemented on a DSP chip and used in a real-time DSP-processor-based simulation of the system. This demonstrated the ability to apply the hybrid controller logic to a variety of vehicles.","abstract_has_math":false,"creators":["Stanley, Byron M. (Byron McCall), 1977-"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Marc McConley and Jean-Jacques Slotine."],"committee_chairs":[],"committee_members":[],"year":2001,"date_issued":"2001","date_published":"2001","updated_at":"2026-07-22T22:21:49Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. 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