Autonomous Navigation , Guidance and Control of Small Electric Helicopter Regular Paper
نویسندگان
چکیده
In this study, we design an autonomous navigation, guidance and control system for a small electric helicopter. Only small, light‐weight, and inaccurate sensors can be used for the control of small helicopters because of the payload limitation. To overcome the problem of inaccurate sensors, a composite navigation system is designed. The designed navigation system enables us to precisely obtain the position and velocity of the helicopter. A guidance and control system is designed for stabilizing the helicopter at an arbitrary point in three‐dimensional space. In particular, a novel and simple guidance system is designed using the combination of optimal control theory and quaternion kinematics. The designs of the study are validated experimentally, and the experimental results verify the efficiency of our navigation, guidance and control system for a small electric helicopter.
منابع مشابه
Autonomous Navigation, Guidance and Control of Small 4-wheel Electric Vehicle
In this study, we design autonomous navigation, guidance and control system for small four-wheel ground vehicle. Small and low-accuracy sensors (low-cost GPS, low-accuracy accelerometers) are only used for navigation and control of the UGV. Firstly, INS/GPS composite navigation system is designed to obtain high-accuracy position and velocity of the vehicle by using low-accuracy sensors. Secondl...
متن کاملIntelligent Auto pilot Design for a Nonlinear Model of an Autonomous Helicopter by Adaptive Emotional Approach
There is a growing interest in the modeling and control of model helicopters using nonlinear dynamic models and nonlinear control. Application of a new intelligent control approach called Brain Emotional Learning Based Intelligent Controller (BELBIC) to design autopilot for an autonomous helicopter is addressed in this paper. This controller is applied to a nonlinear model of a helicopter. This...
متن کاملProject for an Autonomous Model Helicopter Navigation System
In this paper we present the first part of a potential project aimed at the development of an autonomous model helicopter. Such vehicle will be used for land photogrammetric surveying, for documentation of archeological sites, for detection of polluted areas at sea and for many other situations where remote surveying is a definite advantage due to accessibility. Upon checking other projects in ...
متن کاملModel Reference Sliding Mode Control of Small Helicopter X.R.B based on Vision
This paper presents autonomous control for indoor small helicopter X.R.B. In case of natural disaster like earthquake, a MAV (Micro Air Vehicle) which can fly autonomously will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be helpful to prevent secondary disaster. This paper describes vision bas...
متن کاملDevelopment of an Unmanned Helicopter for Vertical Replenishment
This paper presents an intelligent and robust guidance, navigation and control solution for a rotary-wing UAV to carry out an autonomous cargo transportation mission between two moving platforms. Different from the conventional GPS/INS-only navigation scheme, this solution also integrates sophisticated Lidar and vision systems capable of precisely locating cargo loading and unloading positions....
متن کامل