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This paper presents an intelligent and robust guidance, navigation and control solution for a rotorcraft UAV to perform automatic cargo transportation between two moving platforms. Different from the conventional GPS/INS based navigation, the proposed UAV system also integrates a scanning laser range finder to robustly correct its altitude measurement and an advanced vision sub-system to detect the...
Motivated by the 2013 International UAV Innovation Grand Prix (UAVGP), we design and implement a real-time vision system for an unmanned helicopter to transfer cargoes between two moving platforms fully autonomously. The key algorithms in the vision system include ellipse detection, ellipse tracking and single-circle-based pose estimation. Comprehensive experiments have verified the efficiency, accuracy...
A complete flight control scheme with detailed design methodology is proposed for an indoor miniature coaxial helicopter with fixed collective pitch. To avoid system complexity and the problem of minimum phase control, the helicopter dynamic model is decomposed into two cascaded subsystems: an inner one for attitude and heading control and the outer one for trajectory control. H-infinity control technique...
The paper presents a control scheme to the formation flight of a pair of unmanned rotorcraft. A leader-follower formation strategy is adopted and it is realized by utilizing the robust and perfect tracking (RPT) control approach. More specifically, individual RPT flight control laws are implemented in each aircraft, while the measurements from its neighbor and its own sensors are both taken into account...
This paper presents the work that has been done to derive an accurate nonlinear model for a miniature fixed-pitch coaxial helicopter. Starting from the Newton-Euler rigid body dynamic equations, forces and torques generated at various parts of the UAV have been identified and formulated. The physical meanings behind the model are clearly explained, and the methods of identifying all the important...
This paper describes the development of an Unmanned Aerial Vehicle (UAV) with the aid of a vision processing system for indoor navigation. A co-axial radio-controlled (RC) helicopter is upgraded with a customized on-board avionics system which include two Gumstix Linux computer systems as the on-board processors. A camera module is used to capture real time video during the flight to perform real...
In this paper, we present a systematic design and implementation of a robust real-time embedded vision system for an unmanned helicopter for ground target seeking and following. The on-board software system is developed based on a multithread technology capable of coordinating multiple tasks. To realize the autonomously ground target seeking and following, a sophisticated vision algorithm is proposed...
Determining the motion of an unmanned aerial vehicle in GPS-denied environments is a challenging work. In this paper, we present a systematic design and implementation of a vision aided motion estimation approach for an unmanned helicopter in such a condition. A hierarchical vision scheme is proposed to detect a structured landmark, and find the correspondence between the 3D reference points and the...
We present in this paper the actual implementation results of flight formation of multiple unmanned helicopters. More specifically, we consider a leader-follower formation flight behavior with two scenarios: 1) the flight formation test with the leader being a manned helicopter following a zigzag-like trajectory, and 2) the flight test with the leader being an unmanned system following circle and...
In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model...
We document in this article a general introduction to modern miniature unmanned rotorcraft systems. More specifically, we present a fairly detailed overview on the hardware configuration, software integration, aerodynamic modeling, automatic flight control system, and computer vision system involved in forming an unmanned rotorcraft system.
We present in the paper the comprehensive design procedure of a mini UAV helicopter, called BabyLion. The hardware construction, along with the selection of all of necessary components, will be introduced. Since the system identification method is only partially suitable for the self-built BabyLion, we propose a more suitable parameter identification approach which combines both system identification...
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