Navigation Functionalities for an Autonomous UAV Helicopter

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6 CHAPTER 2. OVERVIEW which integrates many different functionalities is required. Fig. 2.1 provides a schematic of the software architecture that has been developed. The modules focused on in this thesis have been emphasized in the schematic. The boxes emphasized with bold lines and text have been developed and made operational and will be described in detail in this thesis. Figure 2.1: UAV software architecture schematic. The modules emphasized using bold lines are the focus of this thesis. The software architecture has been implemented using three computers
2.1. UAV SOFTWARE ARCHITECTURE 7 which will be described shortly. • The deliberative/reactive system (DRC) executes a number of high level functionalities of a deliberative nature such as path planner, execution monitoring, GIS, etc. • The image processing system (IPC) executes image processing functions and handles everything which is related to the video camera (frame grabbing, camera pan/tilt control, etc.). • The primary flight control system (PFC) executes the control modes (hovering, path following, take-off, landing, etc.), the sensor fusion functions (INS/GPS, INS/camera) and handles communication with the helicopter platform and with the other sensors (GPS, pressure sensor, etc.). The PFC executes predominantly hard real-time tasks such as the flight control modes or the sensor fusion algorithms. This part of the system uses a Real-Time Application Interface (RTAI) [14] which provides industrialgrade real-time operating system functionality. RTAI is a hard real-time extension to a standard Linux kernel (Debian) and has been developed at the Department of Aerospace Engineering of Politecnico di Milano. The DRC has reduced timing requirements. This part of the system uses the Common Object Request Broker Architecture (CORBA) as its distribution backbone. Currently an open source implementation of CORBA 2.6 called TAO/ACE [11] is in use. More details about the complete software architecture can be found in Paper III and in [3, 15]. As can be observed from the boxes emphasized in Fig. 2.1, this thesis deals with a number of functionalities which are contained in the PFC system. A brief introduction as to what these functionalities actually do will now be described. The simulator mentioned in the introduction implements the helicopter dynamics. Moreover it emulates the helicopter sensor outputs so that during the simulation the complete software architecture can be tested in a closed loop. The simulator can also run on the on board hardware so that during the simulation it is possible to see the helicopter actuators moving as they would in actual flight. Such simulation using hardware-in-the-loop
Page 1: Linköping Studies in Science and T
Page 5: Acknowledgements This work would ha
Page 9 and 10: Contents 1 Introduction 1 2 Overvie
Page 11 and 12: Chapter 1 Introduction An Unmanned
Page 13 and 14: of the environment in order to avoi
Page 15: Chapter 2 Overview This chapter pre
Page 19 and 20: 2.2. THE UAV HELICOPTER PLATFORM 9
Page 21 and 22: 2.2. THE UAV HELICOPTER PLATFORM 11
Page 23 and 24: Chapter 3 Simulation 3.1 Introducti
Page 25 and 26: 3.2. HARDWARE-IN-THE-LOOP SIMULATIO
Page 27 and 28: 3.3. REFERENCE FRAMES 17 3.3 Refere
Page 29 and 30: 3.4. THE AUGMENTED RMAX DYNAMIC MOD
Page 31 and 32: 3.4. THE AUGMENTED RMAX DYNAMIC MOD
Page 33 and 34: 3.5. SIMULATION RESULTS 23 3.5 Simu
Page 35 and 36: 3.5. SIMULATION RESULTS 25 Figure 3
Page 37 and 38: 3.5. SIMULATION RESULTS 27 Figure 3
Page 39 and 40: Chapter 4 Path Following Control Mo
Page 41 and 42: 4.2. TRAJECTORY GENERATOR 31 Figure
Page 43 and 44: 4.2. TRAJECTORY GENERATOR 33 Fig. 4
Page 45 and 46: 4.2. TRAJECTORY GENERATOR 35 be use
Page 47 and 48: 4.2. TRAJECTORY GENERATOR 37 4.2.3
Page 49 and 50: 4.2. TRAJECTORY GENERATOR 39 radius
Page 51 and 52: 4.2. TRAJECTORY GENERATOR 41 Calcul
Page 55 and 56: 4.2. TRAJECTORY GENERATOR 45 by the
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Page 61 and 62: 4.4. EXPERIMENTAL RESULTS 51 Up [m]
Page 63 and 64: 4.5. CONCLUSIONS 53 1 + s 1 C(s) =
Page 65 and 66: 4.5. CONCLUSIONS 55 Vel [m/s] 20 18
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Chapter 5 Sensor fusion for vision
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composed of three accelerometers an
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5.1. FILTER ARCHITECTURE 61 filter
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5.1. FILTER ARCHITECTURE 63 north,
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5.2. EXPERIMENTAL RESULTS 65 Figure
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5.2. EXPERIMENTAL RESULTS 67 Figure
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5.2. EXPERIMENTAL RESULTS 69 by the
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5.3. CONCLUSION 71 vision system st
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BIBLIOGRAPHY 73 [9] E. Frazzoli. Ro
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Appendix A 75
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A.1. PAPER I 77 is a three-dimensio
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A.1. PAPER I 79 The reference point
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A.1. PAPER I 81 Path Av Err Max Err
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A.2. PAPER II 83 From Motion Planni
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A.3. PAPER III 97 A.3 Paper III Aut
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A.3. PAPER III 99 the projection of
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A.3. PAPER III 101 yes Tbo > Tlim2
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A.3. PAPER III 103 immediately afte
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A.3. PAPER III 105 altitude [m] 20
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A.3. PAPER III 107 Fig. 10. Flight
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Department of Computer and Informat
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No 598 Rego Granlund: C 3 Fire - A
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No 1024 Aleksandra Tešanovic: Towa
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Navigation Functionalities for an Autonomous UAV Helicopter

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