Conte, Gianpaolo Duranti, Simone Merz, Torsten 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:nbn:se:liu:diva-22974 (URN)2345 (Local ID)008-044237-4 (ISBN)oai:DiVA.org:liu-22974 (OAI)diva2:243287 (DiVA)