Name
Abstract | ||
|---|---|---|
We present the design of an optimal trajectory controller for landing a helicopter on a moving target. The trajectory planner is based on the Variational Hamiltonian and Euler-Lagrange equations. We use a kinematic model of the helicopter to derive an optimal controller that is able to track an arbitrarily moving target and then land on it. Simulations are shown to verify the performance of the optimal trajectory controller. Data from real flight trials is presented to validate the inputs obtained from the trajectory planner to track a desired trajectory. We present initial trials in simulation for landing the helicopter autonomously on a moving target. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363620 | PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 |
Keywords | Field | DocType |
land use planning,optimal control,trajectory,mobile robots,remotely operated vehicles,motion control,control systems,kinematics,vehicle dynamics | Remotely operated underwater vehicle,Motion control,Control theory,Optimal control,Kinematics,Simulation,Control theory,Control engineering,Vehicle dynamics,Engineering,Mobile robot,Trajectory | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 |
Citations | PageRank | References |
16 | 1.01 | 4 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Srikanth Saripalli | 1 | 564 | 60.11 |
| Gaurav S. Sukhatme | 2 | 5469 | 548.13 |