The transition from a mathematical algorithm to a physical hardware implementation is non-trivial. This thesis discusses the issues involved in the transition from the theory of real-time trajectory generation all the way through a hardware experiment. Documentation of the validation process as well as modifications to the existing theory as a result of hardware testing are treated at length. The results of hardware experimentation show that trajectory generation can be done in real-time in a manner facilitating coordination of multiple small UAVs.
College and Department
Ira A. Fulton College of Engineering and Technology; Electrical and Computer Engineering
BYU ScholarsArchive Citation
Kingston, Derek B., "Implementation Issues of Real-Time Trajectory Generation on Small UAVs" (2004). All Theses and Dissertations. 121.
trajectory generation, UAV, attitude estimation, implementation issues, real-time, real time