Trajectory Generation for Distributed Electric Propulsion Vehicles with Propeller Synchronization

In this paper, we propose a method for generating dynamically feasible trajectories for an
acoustically aware vehicle with propeller phase control. The trajectory generation procedure
allows both propeller phase control and navigation objectives to be considered simultaneously. The presented method is demonstrated where the mission objectives are given as a desired position and phase trajectory. From these trajectories, the full desired state of the vehicle is calculated. Furthermore, the control inputs that realize the desired mission objectives are computed. The acoustic performance for the given trajectory is estimated in terms of sound pressure level as a function of tracking performance. The method is demonstrated in simulation, where the vehicle must navigate through an urban environment with both spatial and acoustic constraints. In the presented scenario, the vehicle must follow a given flight path, and can only reduce sound pressure level by changing the propeller phase targets.