LiU Electronic Press
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Author:
Conte, Gianpaolo (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Duranti, Simone (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group )
Merz, Torsten (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group )
Title:
Dynamic 3D path following for an autonomous helicopter
Department:
Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV)
Publisher: Elsevier
Year of publ.:
2004
URI:
urn:nbn:se:liu:diva-22974
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-22974
ISBN:
008-044237-4
Local ID:
2345
Subject category:
Computer Science
SVEP category:
Computer science
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.

Available from:
2009-10-07
Created:
2009-10-07
Last updated:
2011-03-25
Statistics:
154 hits