Abstract
This paper presents a novel framework for full-envelope guidance of agile, autonomous rotorcraft. A velocity control mode is combined with a maneuver scheduler that enables execution of pre-programmed, agile maneuvers. The closed-loop dynamics in the body-axis frame are described by a hybrid model, consisting of a set of constrained, linear, time-invariant modes and discrete transitions in the state space. Optimal trajectories through cluttered environments are then computed using mixed integer linear programming. A receding horizon formulation is presented that is feasible for real-time guidance.
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