Low-cost flight control system for a small autonomous helicopter
Roberts, Jonathan M., Corke, Peter, & Buskey, Gregg (2003) Low-cost flight control system for a small autonomous helicopter. In Proceedings ICRA '03 IEEE International Conference on Robotics and Automation 2003, IEEE, The Grand Hotel, Taipei, Taiwan, pp. 546-551.
In this paper we describe a low-cost flight control system for a small (60 class) helicopter which is part of a larger project to develop an autonomous flying vehicle. Our approach differs from that of others in not using an expensive inertial/GPS sensing system. The primary sensors for vehicle stabilization are a low-cost inertial sensor and a pair of CMOS cameras. We describe the architecture of our flight control system, the inertial and visual sensing subsystems and present some flight control results.
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|Item Type:||Conference Paper|
|Keywords:||CMOS cameras, vehicle stabilization, inertial sensing, inertial sensors, flying vehicles, autonomous helicopter, flight control system, virtual sensing, CMOS image sensors , aircraft control, aerospace robotics, cameras, helicopters, inertial navigation|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Avionics (090105)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science|
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2003 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||01 Oct 2010 13:31|
|Last Modified:||29 Aug 2014 15:59|
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