Chess Center: 337 Cory Hall
for an Ultra-light, Fixed-wing Aircraft
Week 1: Familiarized myself with MATLAB programming, read papers
on autonomous vehicles, formulated pseudocode for reaching local
optimal trajectories, reviewed the existing autopilot (written in
C), and became familiar with the flight simulator.
|Week 2: Started coding in MATLAB, reached local optimal
trajectories based on a straight line, added the velocity, acceleration,
and turning-rate constraints, and created a plotting function to test
the results. Visited the Richmond Flight Station (RFS) to see where
the crossbow aircraft would be tested in flight.
|Week 3: Formulated and implemented pseudocode for the
MATLAB functions which would allow for a more desired, initial trajectory
in order to further test the functionality of the optimizing code.
|Week 4: Completed the initial trajectory code which
also checked constraints on velocity, acceleration, and turning-rates,
but made adjustments to allow the vehicle to maintain maximum speed
and angular velocities (roll, pitch, yaw). Tested the code with various
maximum and minimum constants to obtain values such that the code
better represented efficiency and virtual reality of the vehicle.
|Week 5: Continued testing the code with various maximum
and minimum speeds, accelerations, angular velocities, and constants.
Finalized the values and began creating a presentation on the results
using the visuals created in MATLAB, since there would be no visuals
from the C code implementation.
|Week 6: Began implementation and testing in C, reevaluated
the method used for determining turning rates, finished presentation,
started on poster, started writing abstract for paper.
|Week 7: Continued implementation and testing in C, gave
presentation, finished poster, wrote first draft of paper.
Week 8: Last week...
To modify this page, use CVS. For website or
program issues contact Dr. Jonathan