Sensing and control for a small-size helicopter

Buskey, Gregg, Roberts, Jonathan M., Corke, Peter, Ridley, Peter, & Wyeth, Gordon (2003) Sensing and control for a small-size helicopter. In Experimental Robotics VIII : Proceedings of the 8th International Symposium ISER02, Springer, Sant'Angelo d'Ischia, Italy, pp. 476-486.

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Abstract

This paper details the progress to date, toward developing a small autonomous helicopter. We describe system architecture, avionics, visual state estimation, custom IMU design, aircraft modelling, as well as various linear and neuro/fuzzy control algorithms. Experimental results are presented for state estimation using fused stereo vision and IMU data, heading control, and attitude control. FAM attitude and velocity controllers have been shown to be effective in simulation.

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138 since deposited on 05 Mar 2013
12 in the past twelve months

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ID Code: 57802
Item Type: Conference Paper
Refereed: Yes
Keywords: CSIRO, Autonomous helicopter
DOI: 10.1007/3-540-36268-1_43
ISBN: 9783540003052
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
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 Springer
Deposited On: 05 Mar 2013 23:42
Last Modified: 13 Sep 2014 03:28

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