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The increasing computational power of modern calculators and the development of faster optimization algorithms makes the model predictive approach an attractive option also for fast dynamic systems such as small-scale UAV helicopters. The ability of these algorithms to deal with constraints can be effectively used in flight control systems to take into account actuators limitations and flight envelope...
This work presents a model predictive control based trajectory optimization method for nap-of-the-earth (NOE) flight including obstacle avoidance, emphasizing the mission objective of low altitude at high speed. A NOE trajectory reference is generated over a subspace of the terrain. It is then inserted into the cost function and the resulting trajectory tracking error term is weighted for more precise...
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