抄録
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.
| 元の言語 | English |
|---|---|
| 記事番号 | A52 |
| ジャーナル | International Journal of Advanced Robotic Systems |
| 巻 | 10 |
| DOI | |
| 出版物ステータス | Published - 2013 1 18 |
| 外部発表 | Yes |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Computer Science Applications
これを引用
Autonomous navigation, guidance and control of small electric helicopter. / Suzuki, Satoshi; Ishii, Takahiro; Okada, Nobuya; Iizuka, Kojiro; Kawamura, Takashi.
：: International Journal of Advanced Robotic Systems, 巻 10, A52, 18.01.2013.研究成果: Article
}
TY - JOUR
T1 - Autonomous navigation, guidance and control of small electric helicopter
AU - Suzuki, Satoshi
AU - Ishii, Takahiro
AU - Okada, Nobuya
AU - Iizuka, Kojiro
AU - Kawamura, Takashi
PY - 2013/1/18
Y1 - 2013/1/18
N2 - 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.
AB - 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.
KW - Autonomous control
KW - Composite navigation system
KW - Low accuracy sensors
KW - Small helicopter
KW - Three-dimensional guidance system
UR - http://www.scopus.com/inward/record.url?scp=84872932237&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872932237&partnerID=8YFLogxK
U2 - 10.5772/54713
DO - 10.5772/54713
M3 - Article
AN - SCOPUS:84872932237
VL - 10
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
SN - 1729-8806
M1 - A52
ER -