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While collision avoidance and flight stability are generally a micro air vehicle's (MAVs) highest priority, many map-based path planning algorithms focus on path optimality, often assuming a static, known environment. For many MAV applications a robust navigation solution requires responding quickly to obstacles in dynamic, tight environments with non-negligible disturbances. This article first outlines...
An estimation framework is presented that improves the robustness of GPS-denied state estimation to changing environmental conditions by fusing updates from multiple view-based odometry algorithms. This allows the vehicle to utilize a suite of complementary exteroceptive sensors or sensing modalities. By estimating the vehicle states relative to a local coordinate frame collocated with an odometry...
In this paper, a robust altitude control scheme is proposed for a mini-Quadrotor UAV system based on sliding mode controller with an integral action to eliminate the steady-state error induced by the boundary layer in order to achieve asymptotic convergence to the desired altitude with continuous control input. The proposed integral sliding mode controller is chosen to ensure the stability and robustness...
To aid an automatic taxiing system for unmanned aircraft, this paper presents a colour based method for semantic segmentation and image classification in an aerodrome environment with the intention to use the classification output to aid navigation and collision avoidance. Based on previous work, this machine vision system uses semantic segmentation to interpret the scene. Following an initial superpixel...
These days we demand Unmanned Aerial Systems (UASs) fly autonomously and be able to physically interact with their environment executing prescribed tasks. An excellent example of that are the Aerial Manipulators (AMs) i.e. UASs formed by the join of an Unmanned Aerial Vehicle (UAV) and a Robot Manipulator (RM). Moreover, the lack of structured workspaces in outdoor operations is challenging for the...
The paper presents a tube based Model Predictive Control (MPC) strategy for robust tracking control of PVTOL aircraft. PVTOL system is considered as a benchmark for investigating dynamics and control related issues for unmanned aerial vehicles (UAVs). Due to non-linear dynamics and under actuated nature of this system, the task of building control algorithm for such systems becomes challenging. Here,...
Unmanned aerial vehicles (UAVs) are widely applied in both civil and military fields, such as rescue, surveillance, exploration, navigation, precision agriculture and etc., because of small size, low cost and easy maintenance. However the autonomous flight of UAVs under unstructured environment is still open, especially when GPS is unavailable or indoor task is scheduled. Furthermore, GPS-based navigation...
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