Navigation Functionalities for an Autonomous UAV Helicopter

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LINKÖPINGS UNIVERSITET Språk Language X Svenska/Swedish Engelska/English URL för elektronisk version Rapporttyp Report category Licentiatavhandling Examensarbete C-uppsats D-uppsats Övrig rapport Titel Title Navigation Functionalities for an Autonomous UAV Helicopter Författare Author Gianpaolo Conte ISBN ISRN Serietitel och serienummer ISSN Title of series, numbering Linköping Studies in Science and Technology Thesis No. 1307 Sammanfattning Abstract This thesis was written during the WITAS UAV Project where one of the goals has been the development of a software/hardware architecture for an unmanned autonomous helicopter, in addition to autonomous functionalities required for complex mission scenarios. The algorithms developed here have been tested on an unmanned helicopter platform developed by Yamaha Motor Company called the RMAX. The character of the thesis is primarily experimental and it should be viewed as developing navigational functionality to support autonomous flight during complex real-world mission scenarios. This task is multidisciplinary since it requires competence in aeronautics, computer science and electronics. The focus of the thesis has been on the development of a control method to enable the helicopter to follow 3D paths. Additionally, a helicopter simulation tool has been developed in order to test the control system before flight-tests. The thesis also presents an implementation and experimental evaluation of a sensor fusion technique based on a Kalman filter applied to a vision based autonomous landing problem. Extensive experimental flight-test results are presented. Nyckelord Keywords X Avdelning, institution Division, department Institutionen för datavetenskap Department of Computer and Information Science 978-91-85715-35-0 LiU-Tek-Lic-2007:16 Datum Date March 1st, 2007 0280-7971 Unmanned Aerial Vehicle, Control System, Path Following, Path Planning, Sensor Fusion, Vision Based Landing, Kalman Filter, Real-Time.
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Linköping Studies in Science and T
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Acknowledgements This work would ha
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Contents 1 Introduction 1 2 Overvie
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Chapter 1 Introduction An Unmanned
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of the environment in order to avoi
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Chapter 2 Overview This chapter pre
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2.1. UAV SOFTWARE ARCHITECTURE 7 wh
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2.2. THE UAV HELICOPTER PLATFORM 9
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2.2. THE UAV HELICOPTER PLATFORM 11
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Chapter 3 Simulation 3.1 Introducti
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3.2. HARDWARE-IN-THE-LOOP SIMULATIO
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3.3. REFERENCE FRAMES 17 3.3 Refere
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3.4. THE AUGMENTED RMAX DYNAMIC MOD
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3.4. THE AUGMENTED RMAX DYNAMIC MOD
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3.5. SIMULATION RESULTS 23 3.5 Simu
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3.5. SIMULATION RESULTS 25 Figure 3
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3.5. SIMULATION RESULTS 27 Figure 3
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Chapter 4 Path Following Control Mo
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4.2. TRAJECTORY GENERATOR 31 Figure
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4.2. TRAJECTORY GENERATOR 33 Fig. 4
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4.2. TRAJECTORY GENERATOR 35 be use
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4.2. TRAJECTORY GENERATOR 37 4.2.3
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4.2. TRAJECTORY GENERATOR 39 radius
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4.2. TRAJECTORY GENERATOR 41 Calcul
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4.2. TRAJECTORY GENERATOR 45 by the
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4.3. OUTER LOOP CONTROL EQUATIONS 4
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4.4. EXPERIMENTAL RESULTS 51 Up [m]
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4.5. CONCLUSIONS 53 1 + s 1 C(s) =
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4.5. CONCLUSIONS 55 Vel [m/s] 20 18
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Page 71 and 72: 5.1. FILTER ARCHITECTURE 61 filter
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Page 75 and 76: 5.2. EXPERIMENTAL RESULTS 65 Figure
Page 77 and 78: 5.2. EXPERIMENTAL RESULTS 67 Figure
Page 79 and 80: 5.2. EXPERIMENTAL RESULTS 69 by the
Page 81 and 82: 5.3. CONCLUSION 71 vision system st
Page 83 and 84: BIBLIOGRAPHY 73 [9] E. Frazzoli. Ro
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Page 87 and 88: A.1. PAPER I 77 is a three-dimensio
Page 89 and 90: A.1. PAPER I 79 The reference point
Page 91 and 92: A.1. PAPER I 81 Path Av Err Max Err
Page 93 and 94: A.2. PAPER II 83 From Motion Planni
Page 107 and 108: A.3. PAPER III 97 A.3 Paper III Aut
Page 109 and 110: A.3. PAPER III 99 the projection of
Page 111 and 112: A.3. PAPER III 101 yes Tbo > Tlim2
Page 113 and 114: A.3. PAPER III 103 immediately afte
Page 115 and 116: A.3. PAPER III 105 altitude [m] 20
Page 117: A.3. PAPER III 107 Fig. 10. Flight
Page 122 and 123: No 402 Lars Degerstedt: Tabulated R
Page 124 and 125: No 809 Flavius Gruian: Energy-Aware
Page 126: No 1277 Viacheslav Izosimov: Schedu
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Navigation Functionalities for an Autonomous UAV Helicopter

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