Autonomous navigation, guidance and control of small electric helicopter

Satoshi Suzuki, Takahiro Ishii, Nobuya Okada, Kojiro Iizuka, Takashi Kawamura

研究成果: Article査読

5 被引用数 (Scopus)

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.

本文言語English
論文番号A52
ジャーナルInternational Journal of Advanced Robotic Systems
10
DOI
出版ステータスPublished - 2013 1 18
外部発表はい

ASJC Scopus subject areas

  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 人工知能

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