Aggressive Maneuvering of Autonomous Aerial Vehicles: A Human-Centered Approach
نویسندگان
چکیده
Unmanned aerial robots such as autonomous helicopters can perform very aggressive maneuvers that will be very useful in challenging operating conditions. In the absence of detailed models for the vehicle’s behavior during those maneuvers, an approach aimed at learning those maneuvers directly from human pilots is proposed. The approach is illustrated for several maneuvers in a simulated environment.
منابع مشابه
Aggressive Maneuvering of Small Autonomous Helicopters: A Human-Centered Approach
Unmanned small autonomous helicopters can perform aggressive maneuvers that will be useful for operations in challenging conditions. This paper presents an analysis of the pilot’s execution of aggressive maneuvers from flight test data, collected on an instrumented small-scale acrobatic helicopter. A full-envelope nonlinear dynamic model of the helicopter was developed and validated for aggress...
متن کاملDevelopment of a Fixed Wing Multi-Role Unmanned Aircraft Vehicle Research Testbed
This paper describes the design and construction of a fixed-wing multi-role unmanned aerial vehicle (UAV) that has served as a platform for research on (a) human-machine interface based teleoperation, (b) new autonomous control algorithms, and (c) system identification of aircraft performance parameters. These tasks require capabilities that generalize to a wide range of small scale UAV researc...
متن کاملAutonomous unmanned aircraft collision avoidance system based on geometric intersection
Autonomous Unmanned Aerial Vehicles (UAVs) are envisioned as an integral part of future urban civil and military applications. Large and small scale UAVs will perform large variety of autonomous tasks. However, the capability of UAVs to navigate completely autonomous in real environment is still in its infancy. Autonomous collision avoidance is a necessary step toward this goal. This paper intr...
متن کاملMission Planning and Monitoring for Heterogeneous Unmanned Vehicle Teams: A Human-Centered Perspective
Future unmanned systems in the military will be highly heterogeneous in nature, with vehicles from multiple domains—aerial, underwater, and land—working in collaborative teams to complete a variety of missions. The complexity of supervising these teams will be enormous and will rely on human creativity, judgment, and experience. Therefore, the design and development of mission planning and moni...
متن کاملHybrid Control for Aggressive Maneuvering of Autonomous Aerial Vehicles
14 Speed Traditional Control Methods Human Pilot Vehicle Capability Ma ne uv er ab ilit y desired set of aggressive maneuvers. The behavior library thus constructed can be augmented by generating additional maneuvers to transition among a prescribed set of trim trajectories via analysis of the dynamic model of the vehicle (Figure 2). Figure 2. Maneuvers between trim trajectories of the vehicle ...
متن کامل