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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)
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.

National Category
Computer Science
URN: urn:nbn:se:liu:diva-22974Local ID: 2345ISBN: 008-044237-4OAI: diva2:243287
Available from2009-10-07 Created:2009-10-07 Last updated:2011-03-25Bibliographically approved
In thesis
1. Navigation Functionalities for an Autonomous UAV Helicopter
Open this publication in new window or tab >>Navigation Functionalities for an Autonomous UAV Helicopter
2007 (English)Licentiate thesis, comprehensive summary (Other academic)
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.

Publisher, range
Linköping: Linköping University Electronic Press, 2007. 74 p.
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1307
Unmanned Aerial Vehicle, Control System, Path Following, Path Planning, Sensor Fusion, Vision Based Landing, Kalman Filter, Real-Time
National Category
Engineering and Technology
urn:nbn:se:liu:diva-21966 (URN)LiU-Tek-Lic-2007:16 (Local ID)978-91-85715-35-0 (ISBN)LiU-Tek-Lic-2007:16 (Archive number)LiU-Tek-Lic-2007:16 (OAI)
2007-03-30, Alan Turing, hus E, Campus Valla, Linköpings universitet, Linköping, 13:15 (English)
Available from2009-10-15 Created:2009-10-07 Last updated:2009-10-16Bibliographically approved

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Conte, GianpaoloDuranti, SimoneMerz, Torsten
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