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Collision-Free Guidance Control of Small Unmanned Helicopter Using Nonlinear Model Predictive Control

Satoshi SUZUKI, Takahiro ISHII, Yoshihiko AIDA, Yohei FUJISAWA, Kojiro IIZUKA, Takashi KAWAMURA
2014 SICE Journal of Control Measurement and System Integration  
In this study, our aim is to realize collision-free guidance control for a small unmanned helicopter.  ...  The control system design for collision-free guidance control of a small unmanned helicopter is described in Section 2.  ...  Thus, the results show that the proposed guidance system can be easily applied to the collision-free guidance control of multiple small helicopters.  ... 
doi:10.9746/jcmsi.7.347 fatcat:qzamykqvkvefjnvjlob6peerci

Collision-free guidance control of multiple small UAVs based on distributed model predictive control

Satoshi SUZUKI, Masamitsu SHIBATA, Takashi SASAOKA, Kojiro IIZUKA, Takashi KAWAMURA
2017 Mechanical Engineering Journal  
In this paper, collision-free guidance control of multiple small unmanned aerial vehicles (SUAVs) is designed.  ...  Small multi-rotor helicopter is considered as controlled object, and the guidance control system is designed by using the translational model of the helicopter.  ...  Conclusions In this paper, we designed collision free guidance control system for multiple UAVs.  ... 
doi:10.1299/mej.17-00117 fatcat:72lav4e23jcmbdwsvx2yf757c4

Design and Flight Test of 35-GigaHertz Radar for Terrain and Obstacle Avoidance

Richard E. Zelenka, Larry D. Almsted
1997 Journal of Aircraft  
E., Clark, R., Zirkler, A., Saari, R., and Branigan, R.., ‘‘Development and Flight Test of Terrain-Referenced Guidance with Ladar Forward Sensor,’’ Journal of Guidance, Control, and Dynam- ics, Vol. 19  ...  suffer from severe vertical elevation mapping errors.** The collision avoid- ance requirement is even more demanding for helicopters, as their unique capabilities result in extensive operations at low  ... 
doi:10.2514/2.7574 fatcat:bzonqfmec5cf5m2xdkmq3ttqhm

Subject Index

2011 Journal of Guidance Control and Dynamics  
Aerial Vehicles G11-173 Efficient Model Predictive Control for Aircraft G11-026 Reactive Collision Avoidance of Using Nonlinear Geometric and Differential Geometric Guidance J.  ...  G11-077 Suboptimal Midcourse Guidance of Interceptors for High-Speed Targets with Align- ment Angle Constraint G11-155 Optimal Control Problem for Low- Thrust Multiple Asteroid Tour Missions G11-014 Equitable  ... 
doi:10.2514/1.56394 fatcat:h2hs6frx4fhmfmklgp5pzdavdy

First results in autonomous landing and obstacle avoidance by a full-scale helicopter

Sebastian Scherer, Lyle Chamberlain, Sanjiv Singh
2012 2012 IEEE International Conference on Robotics and Automation  
Here we consider the problems of finding suitable but previously unmapped landing sites given general coordinates of the goal and planning collision free trajectories in real time to land at the "optimal  ...  We show results from 8 experiments for landing site selection and 5 runs at obstacles.  ...  Machine vision systems have been popular on small radio-controlled helicopters. Bosch et al. [2] used monocular images from a camera to identify planar areas for landing. Johnson et al.  ... 
doi:10.1109/icra.2012.6225215 dblp:conf/icra/SchererCS12 fatcat:de72gokcqjfo7llah7eg6vnxyy

Probabilistic guidance of distributed systems using sequential convex programming

Daniel Morgan, Giri Prashanth Subramanian, Saptarshi Bandyopadhyay, Soon-Jo Chung, Fred Y. Hadaegh
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we integrate, implement, and validate formation flying algorithms for large number of agents using probabilistic swarm guidance with inhomogeneous Markov chains and model predictive control  ...  An optimal control problem is formulated to ensure that the agents reach the target positions while avoiding collisions.  ...  Using formation flying, multiple small satellites can out perform a single monolithic satellite in certain applications like interferometry.  ... 
doi:10.1109/iros.2014.6943103 dblp:conf/iros/MorganSBCH14 fatcat:o4dewy6hprdmleg3olosi4htom

LARUS: an unmanned aircraft for the support of maritime rescue missions under heavy weather conditions

T. Ostermann, C. Ben, I. Martin
2020 CEAS Aeronautical Journal  
In addition, the adaptation of flight control to the expanded requirements and influencing factors as well as the implementation of international SAR search strategies for flight guidance are also the  ...  The integration of the LARUS aerial system into airspace using an active collision avoidance system is also an important research aspect.  ...  We would also like to thank the Police Helicopter Squadron of the Bavarian Police for enabling the experimental validation of the continuous wave radar system and the  ... 
doi:10.1007/s13272-020-00444-z fatcat:bfaewitxovguxl7wrev6qtw3gq

Real-Time Motion Planning for Agile Autonomous Vehicles

Emilio Frazzoli, Munther A. Dahleh, Eric Feron
2002 Journal of Guidance Control and Dynamics  
Simulation examples, involving a small autonomous helicopter, will be presented and discussed.  ...  A new class of algorithms, based on the construction of probabilistic roadmaps, has been recently introduced, and proven to provide a very fast and e cient s c heme for motion planning for robots with  ...  In this section, we will present simulation results for a test case involving a small autonomous helicopter.  ... 
doi:10.2514/2.4856 fatcat:nla6fygydrar3e5cx3ot45dzee

Analyzing Helicopter Evasive Maneuver Effectiveness Against Rocket-Propelled Grenades

David Anderson, Douglas Thomson
2014 Journal of Guidance Control and Dynamics  
To evaluate the game, nonlinear dynamic and spatial models for a helicopter, RPG-7 round and gunner & evasion strategies were developed and integrated into a bespoke simulation engine.  ...  In this paper it is proposed that although a complete APS in its current form is unsuitable for helicopters, the APS track and threat trajectory prediction sub-system could be used in the computation of  ...  Acknowledgements The authors would like to acknowledge the financial contribution given by the rotorcraft survivability group, DSTL, for certain parts of this investigation.  ... 
doi:10.2514/1.59318 fatcat:fhcnzol3nraa3ihsg73gxkcynm

Aerial Collective Systems [chapter]

Jean-Christophe Zufferey, Sabine Hauert, Timothy Stirling, Severin Leven, James Roberts, Dario Floreano
2013 Handbook of Collective Robotics  
European Commission; the Swiss National Science Foundation (grant 200020-116149); the Swiss Innovation Promotion Agency CTI (project no. 11116.1 PFNM-NM); Armasuisse, competence sector Science + Technology for  ...  the Swiss Federal Department of Defence, Civil Protection and Sports; and lastly the FET programme within the Seventh Framework Programme for Research of the European Commission, under the CURVACE project  ...  and mapping of the environment, which in turns enable collision-free path planning.  ... 
doi:10.1201/b14908-21 fatcat:gim3imiic5ddbjgmobpap3l4fq

Flying Fast and Low Among Obstacles: Methodology and Experiments

Sebastian Scherer, Sanjiv Singh, Lyle Chamberlain, Mike Elgersma
2008 The international journal of robotics research  
Safe autonomous flight is essential for widespread acceptance of aircraft that must fly close to the ground.  ...  The helicopter safely avoids large objects like buildings and trees but also wires as thin as 6 mm.  ...  for leadership in the collision avoidance program.  ... 
doi:10.1177/0278364908090949 fatcat:josx6oqqmje6fcrb7ndf2vhxli

Radar-assisted collision avoidance/guidance strategy for planar flight

B. Ajith Kumar, D. Ghose
2001 IEEE Transactions on Aerospace and Electronic Systems  
We propose a radar-assisted collision avoidance/guidance strategy (RACAGS) for flight vehicles on low-altitude missions.  ...  The task of obstacle avoidance and guidance are integrated in a single collision avoidancdguidance strategy.  ...  However, note that a different guidance strategy-for example, optimal control-based strategies-may also be used to generate the guidance command.  ... 
doi:10.1109/7.913669 fatcat:cwv264fwpbhzpfsivu3qvykhqq

Pseudosliding-Mode Flight Control for Autonomous Rotorcraft Operation

Ronald A. Hess, Nicolas J. Mallory
2014 Journal of Aircraft  
K., “Adaptive Trajectory Control for Autonomous Helicopters,’ Journal of Guidance, Control, and Dynamics, Vol. 28, No. 3, 2005, pp. 524-538. doi: 10.2514/1.6271 Bejar, M., Ollero, A., and Cuesta, F., “  ...  The 3-D waypoint-following problem was discussed in a cluttered environment in [8], where collision-free waypoints were generated by rapidly exploring random trees.  ... 
doi:10.2514/1.c032241 fatcat:kdw623aod5egrcvg4up73pg6zm

In-flight collision avoidance controller based only on OS4 embedded sensors

Marcelo Becker, Rafael Coronel B. Sampaio, Samir Bouabdallah, Vincent de Perrot, Roland Siegwart
2012 Journal of the Brazilian Society of Mechanical Sciences and Engineering  
The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors  ...  This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that  ...  ) and CNPq (National Council for Scientific and Technological Development).  ... 
doi:10.1590/s1678-58782012000300010 fatcat:xhquej5oqjhjxd64p2duwu5try

Multi-Query Path Planning for Exploration Tasks with an Unmanned Rotorcraft

Florian Adolf
2012 Infotech@Aerospace 2012  
This paper presents an online multi-query path planner for exploration tasks planned onboard an unmanned helicopter.  ...  free edge connections to neighbor samples of a vertex neighbors = Number of neighbor edges connections within a bounded Euclidean range in the roadmap local = Local visibility of a vertex f ree neighbors  ...  This paper presents an online multi-query path planner for exploration tasks planned onboard an unmanned helicopter.  ... 
doi:10.2514/6.2012-2452 dblp:conf/itaero/Adolf12 fatcat:dqslvj2rurck5imjqjnvdps47y
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