@inproceedings{54ce2ec44ce444d889639f269e1a687a,
title = "Improving autonomous soaring via energy state estimation and extremum seeking control",
abstract = "This paper introduces autonomous soaring methods that enhance the performance of small autonomous gliders in a thermal soaring environment. Thermal centering control is aided by an asymmetric Savitzky-Golay filter that computes estimates of total energy, rate of change of total energy and the second derivative of total energy using polynomial approximations over a moving time window. Climb rate in the thermal is maximized using extremum seeking control with turn radius as the varying parameter. A simulation environment based on a commercially available multiplayer soaring simulator is described, with low level aircraft control implemented on an Arduino Mega single board computer. Higher level control is implemented on a laptop computer that communicates with the Arduino autopilot over a serial link. The utility of the thermal soaring controller is demonstrated in this high fidelity simulation: stable thermal centering and good convergence to a maximum climb rate is observed, with climb performance of the new controllers exceeding previous methods.",
author = "Daugherty, {Shawn C.} and Langelaany, {Jack W.}",
year = "2014",
doi = "10.2514/6.2014-0260",
language = "English (US)",
isbn = "9781600869624",
series = "AIAA Guidance, Navigation, and Control Conference",
booktitle = "AIAA Guidance, Navigation, and Control Conference",
note = "AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 ; Conference date: 13-01-2014 Through 17-01-2014",
}