Flying between obstacles with an autonomous knife-edge maneuver
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2013
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| Online Access: | http://hdl.handle.net/1721.1/78535 |
| _version_ | 1811068655643918336 |
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| author | Barry, Andrew J. (Andrew James) |
| author2 | Russ Tedrake. |
| author_facet | Russ Tedrake. Barry, Andrew J. (Andrew James) |
| author_sort | Barry, Andrew J. (Andrew James) |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012. |
| first_indexed | 2024-09-23T07:59:09Z |
| format | Thesis |
| id | mit-1721.1/78535 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T07:59:09Z |
| publishDate | 2013 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/785352019-04-09T15:55:33Z Flying between obstacles with an autonomous knife-edge maneuver Barry, Andrew J. (Andrew James) Russ Tedrake. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012. Cataloged from PDF version of thesis. Includes bibliographical references (p. 55-58). We develop an aircraft and control system that is capable of repeatedly performing a high speed (7m/s or 16 MPH) "knife-edge" maneuver through a gap that is smaller than the aircraft's wingspan. The maneuver consists of flying towards a gap, rolling to a significant angle, accurately navigating between the obstacles, and rolling back to horizontal. The speed and roll-rate required demand a control system capable of highly precise, repeatable maneuvers. We address the necessary control theory, path planning, and hardware requirements for such a maneuver, and give a proposal for a new system that may improve upon the existing techniques. by Andrew J. Barry. S.M. 2013-04-12T19:37:08Z 2013-04-12T19:37:08Z 2012 2012 Thesis http://hdl.handle.net/1721.1/78535 834084465 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 58 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Barry, Andrew J. (Andrew James) Flying between obstacles with an autonomous knife-edge maneuver |
| title | Flying between obstacles with an autonomous knife-edge maneuver |
| title_full | Flying between obstacles with an autonomous knife-edge maneuver |
| title_fullStr | Flying between obstacles with an autonomous knife-edge maneuver |
| title_full_unstemmed | Flying between obstacles with an autonomous knife-edge maneuver |
| title_short | Flying between obstacles with an autonomous knife-edge maneuver |
| title_sort | flying between obstacles with an autonomous knife edge maneuver |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/78535 |
| work_keys_str_mv | AT barryandrewjandrewjames flyingbetweenobstacleswithanautonomousknifeedgemaneuver |