Name
Title | ||
|---|---|---|
Hierarchical path planning and flight control of small autonomous helicopters using MPC techniques |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/IVS.2013.6629504 | Intelligent Vehicles Symposium |
Keywords | Field | DocType |
optimisation,flight control,autonomous control,hierarchical path planning,low-level helicopter dynamics,guidance compensator,model predictive control,control principle,small autonomous helicopters,mpc techniques,helicopters,local path planning,optimisation based framework,autonomous aerial vehicles,path planning,vehicle dynamics,unmanned helicopters,aircraft control,high-level kinematics,indoor flight environment,predictive control,planning,kinematics,optimization,trajectory | Motion planning,Kinematics,Control theory,Model predictive control,Control engineering,Vehicle dynamics,Engineering,Helicopter dynamics,Autonomous control | Conference |
ISSN | ISBN | Citations |
1931-0587 | 978-1-4673-2754-1 | 2 |
PageRank | References | Authors |
0.36 | 5 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Cunjia Liu | 1 | 60 | 10.48 |
| Wen-Hua Chen | 2 | 583 | 40.68 |