Navigation Functionalities for an Autonomous UAV Helicopter

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74 BIBLIOGRAPHY [21] D.F. Rogers and J.A. Adams. Mathematical Elements for Computer Graphics. McGraw-Hill, 1990. [22] R. T. Rysdyk. Uav path following for target observation in wind. To appear in AIAA Journal of Guidance, Control, and Dynamics. [23] Eun-Hwan Shin. Accuracy improvement of low cost INS/GPS for land applications. Calgary, Alberta, 2001. Master Thesis, University of Calgary. [24] R. Skjetne and T. Fossen. Nonlinear maneuvering and control of ships. MTS/IEEE OCEANS 2001, 3:1808–15, 2001. [25] Mattias Svensson. Aircraft Trajectory Restoration by Integration of Inertial Measurements and GPS. Master Thesis, Linköping University, 1999. [26] Berkeley Aerorobot Team. http://robotics.eecs.berkeley.edu/bear/. [27] Georgia Tech UAV. http://www.ae.gatech.edu/labs/controls/uavrf/. [28] Hummingbird: Stanford University. http://sunvalley.stanford.edu/users/heli/. [29] CMU Autonomous Helicopter Project. www.cs.cmu.edu/afs/cs/project/chopper/www. [30] M. Wzorek and P. Doherty. Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle. In Proceedings of the International Conference on Hybrid Information Technology, ICHIT, 2006.
Appendix A 75
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 and 16:
Chapter 2 Overview This chapter pre
Page 17 and 18:
2.1. UAV SOFTWARE ARCHITECTURE 7 wh
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
Page 59 and 60: 4.3. OUTER LOOP CONTROL EQUATIONS 4
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
Page 67 and 68: Chapter 5 Sensor fusion for vision
Page 69 and 70: composed of three accelerometers an
Page 71 and 72: 5.1. FILTER ARCHITECTURE 61 filter
Page 73 and 74: 5.1. FILTER ARCHITECTURE 63 north,
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: BIBLIOGRAPHY 73 [9] E. Frazzoli. Ro
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 121 and 122: Department of Computer and Informat
Page 123 and 124: No 598 Rego Granlund: C 3 Fire - A
Page 125 and 126: No 1024 Aleksandra Tešanovic: Towa
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