|Student Name:||Timothy Shuck 1st Lt|
|Thesis:||DEVELOPMENT OF AUTONOMOUS OPTIMAL COOPERATIVE CONTROL IN RELAY ROVER CONFIGURED SMALL UNMANNED AERIAL SYSTEMS|
|Location:||Building 646 Room 207|
|Date & Time:||02/26/2013 at 0900|
|Abstract:|| This research effort developed, integrated and implemented the system hardware and the software necessary to validate the AFIT?s theoretical advances in small unmanned aerial system (SUAS) cooperative control. The attempted end state objective of the research effort was to flight test an autonomous control algorithm on a communication relay unmanned aerial vehicle (UAV) that was actively relaying data to and from a rover UAV. The relay UAV is one part of a SUAS designed to utilize cooperative control to extend the effective line of sight operating range for a rover UAV. An algorithm is integrated into ground control software that uses telemetry data to determine where to navigate the relay aircraft for optimal communication signal strength. The relay aircraft is autonomously routed to the optimal communications relay position. The research resulted in a SUAS based on the Ardupilot Mega 2.0. Flight testing demonstrated the SUAS?'s ability to generate the correct navigation data autonomously; however, the navigation data was not successfully activated as current waypoints on the relay UAV?'s autopilot.