TY - GEN
T1 - Hierarchical path planning and flight control of small autonomous helicopters using MPC techniques
AU - Liu, Cunjia
AU - Chen, Wen Hua
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84892378607&partnerID=8YFLogxK
U2 - 10.1109/IVS.2013.6629504
DO - 10.1109/IVS.2013.6629504
M3 - Conference article published in proceeding or book
AN - SCOPUS:84892378607
SN - 9781467327558
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 417
EP - 422
BT - 2013 IEEE Intelligent Vehicles Symposium, IEEE IV 2013
T2 - 2013 IEEE Intelligent Vehicles Symposium, IEEE IV 2013
Y2 - 23 June 2013 through 26 June 2013
ER -