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Dynamic 3D path following for an autonomous helicopter
Linköpings universitet, Tekniska högskolan. Linköpings universitet, Institutionen för datavetenskap, KPLAB - Laboratoriet för kunskapsbearbetning.
Linköpings universitet, Tekniska högskolan. Linköpings universitet, Institutionen för datavetenskap, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group.
Linköpings universitet, Tekniska högskolan. Linköpings universitet, Institutionen för datavetenskap, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group.
2004 (Engelska)Ingår i: Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Elsevier , 2004Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

A hybrid control system for dynamic path following for an autonomous helicopter is described. The hierarchically structured system combines continuous control law execution with event-driven state machines. Trajectories are defined by a sequence of 3D path segments and velocity profiles, where each path segment is described as a parametric curve. The method can be used in combination with a path planner for flying collision-free in a known environment. Experimental flight test results are shown.

Ort, förlag, år, upplaga, sidor
Elsevier , 2004.
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
URN: urn:nbn:se:liu:diva-22974Lokalt ID: 2345ISBN: 008-044237-4 (tryckt)OAI: oai:DiVA.org:liu-22974DiVA, id: diva2:243287
Tillgänglig från: 2009-10-07 Skapad: 2009-10-07 Senast uppdaterad: 2018-01-13Bibliografiskt granskad
Ingår i avhandling
1. Navigation Functionalities for an Autonomous UAV Helicopter
Öppna denna publikation i ny flik eller fönster >>Navigation Functionalities for an Autonomous UAV Helicopter
2007 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

This thesis was written during the WITAS UAV Project where one of the goals has been the development of a software/hardware architecture for an unmanned autonomous helicopter, in addition to autonomous functionalities required for complex mission scenarios. The algorithms developed here have been tested on an unmanned helicopter platform developed by Yamaha Motor Company called the RMAX. The character of the thesis is primarily experimental and it should be viewed as developing navigational functionality to support autonomous flight during complex real world mission scenarios. This task is multidisciplinary since it requires competence in aeronautics, computer science and electronics. The focus of the thesis has been on the development of a control method to enable the helicopter to follow 3D paths. Additionally, a helicopter simulation tool has been developed in order to test the control system before flight-tests. The thesis also presents an implementation and experimental evaluation of a sensor fusion technique based on a Kalman filter applied to a vision based autonomous landing problem. Extensive experimental flight-test results are presented.

Ort, förlag, år, upplaga, sidor
Linköping: Linköping University Electronic Press, 2007. s. 74
Serie
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1307
Nyckelord
Unmanned Aerial Vehicle, Control System, Path Following, Path Planning, Sensor Fusion, Vision Based Landing, Kalman Filter, Real-Time
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
urn:nbn:se:liu:diva-21966 (URN)LiU-Tek-Lic-2007:16 (Lokalt ID)978-91-85715-35-0 (ISBN)LiU-Tek-Lic-2007:16 (Arkivnummer)LiU-Tek-Lic-2007:16 (OAI)
Presentation
2007-03-30, Alan Turing, hus E, Campus Valla, Linköpings universitet, Linköping, 13:15 (Engelska)
Opponent
Handledare
Tillgänglig från: 2009-10-15 Skapad: 2009-10-07 Senast uppdaterad: 2009-10-16Bibliografiskt granskad

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Conte, GianpaoloDuranti, SimoneMerz, Torsten

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Conte, GianpaoloDuranti, SimoneMerz, Torsten
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Tekniska högskolanKPLAB - Laboratoriet för kunskapsbearbetningAUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
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