Autonomous control of unmanned helicopters has drawn a great deal of interests in recent years. This paper investigates two aspects on this topic, namely the flight control and local path planning. The former is designed only using the low-level helicopter dynamics, but the latter take into account the high-level kinematics in an optimisation based framework. A guidance compensator is therefore developed to integrate them in an interacting way. The overall control principle is demonstrated in an indoor flight environment with promising results.
Hierarchical path planning and flight control of small autonomous helicopters using MPC techniques
01.06.2013
624186 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
HIERARCHICAL PATH PLANNING AND FLIGHT CONTROL OF SMALL AUTONOMOUS HELICOPTERS USING MPC TECHNIQUES
British Library Conference Proceedings | 2013
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