TY - JOUR
T1 - Guidance performance benchmarking for autonomous rotorcraft
AU - Mettler May, Berenice F
AU - Kong, Zhaodan
AU - Goerzen, Chad
AU - Whalley, Matthew
N1 - Publisher Copyright:
© 2014 The American Helicopter Society.
PY - 2014/10/1
Y1 - 2014/10/1
N2 - This paper describes a framework for performance evaluation of autonomous guidance systems. The elements of the framework consist of a set of spatial geometries, flight tasks, performance metrics, a flightdynamic model, and baseline solutions. The spatial benchmarks consist of six tasks in simple geometrical environments and 10 tasks inmore complex urban environments based on a real digital terrain elevation map. The framework also includes a set of performance metrics used to compare trajectories. The performance baselines used in the proposed framework are near-optimal solutions computed using one of two trajectory optimization methods: numerical optimization based on nonlinear programming for the simple geometric environments and a motion primitive automaton for problems involving the urban environments. The paper concludes with a demonstration of the benchmarking framework using the Obstacle Field Navigation system developed by the Army Aeroflightdynamics Directorate.
AB - This paper describes a framework for performance evaluation of autonomous guidance systems. The elements of the framework consist of a set of spatial geometries, flight tasks, performance metrics, a flightdynamic model, and baseline solutions. The spatial benchmarks consist of six tasks in simple geometrical environments and 10 tasks inmore complex urban environments based on a real digital terrain elevation map. The framework also includes a set of performance metrics used to compare trajectories. The performance baselines used in the proposed framework are near-optimal solutions computed using one of two trajectory optimization methods: numerical optimization based on nonlinear programming for the simple geometric environments and a motion primitive automaton for problems involving the urban environments. The paper concludes with a demonstration of the benchmarking framework using the Obstacle Field Navigation system developed by the Army Aeroflightdynamics Directorate.
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U2 - 10.4050/JAHS.59.042009
DO - 10.4050/JAHS.59.042009
M3 - Review article
AN - SCOPUS:84911071783
SN - 0002-8711
VL - 59
JO - Journal of the American Helicopter Society
JF - Journal of the American Helicopter Society
IS - 4
M1 - 042009
ER -