<div class="description">
<p>This thesis explores the numerical methods and software development for  optimal trajectories of a specific model of Helicopter Unmanned Aerial Vehicle  (UAV) in an obstacle-rich environment. This particular model is adopted from the  UAV Laboratory of the National University of Singapore who built and simulated  flights for an X-Cell 60 small-scale UAV Helicopter. The code, which allowed the  team to simulate flights, is a complex system of non-linear differential  equations-5 state variables and four control variables-used to maneuver the  state trajectories. This non-linear model is incorporated into a separate  optimization algorithm code, which allows the user to set initial and final time  conditions together with various constraints, and, using the same variable  scheme, optimize a trajectory. The optimal trajectory is defined by using a cost  function-the performance measure-and the system is subject to a set of  constraints (such as mechanical limitations and physical three-dimensional  obstacles). Simulations conclude that solutions are readily obtained; however, it  is still very difficult to derive trajectories that are truly optimal, and our work calls  for more future research in computational programs for optimal trajectory  planning. All simulations in this thesis are modeled using the MATLAB program.
</p>
<br>Subjects: Trajectory optimization; Drone aircraft; Helicopters</div>
<div class="fn value">
Gatzke, Benjamin Thomas</div>
Internet Archive identifier