Dynamic 3D path following for an autonomous helicopter
2004 (English)In: Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Elsevier, 2004Conference paper (Refereed)
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.
National CategoryComputer Science
IdentifiersURN: urn:nbn:se:liu:diva-22974Local ID: 2345ISBN: 008-044237-4OAI: oai:DiVA.org:liu-22974DiVA: diva2:243287