Autonomous helicopter hover using an artificial neural network

Buskey, Gregg, Wyeth, Gordon, & Roberts, Jonathan (2001) Autonomous helicopter hover using an artificial neural network. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2001), IEEE, Seoul, Korea, pp. 1635-1640.

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Abstract

Details the developments to date of an unmanned air vehicle (UAV) based on a standard size 60 model helicopter. The design goal is to have the helicopter achieve stable hover with the aid of an INS and stereo vision. The focus of the paper is on the development of an artificial neural network (ANN) that makes use of only the INS data to generate hover commands, which are used to directly manipulate the flight servos. Current results show that networks incorporating some form of recurrency (state history) offer little advantage over those without. At this stage, the ANN has partially maintained periods of hover even with misaligned sensors.

Impact and interest:

38 citations in Scopus
24 citations in Web of Science®
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ID Code: 83382
Item Type: Conference Paper
Refereed: Yes
Keywords: Actuators, Aerodynamics, Helicopters, Inertial navigation, Stereo image processing, Stereo vision, Vehicle dynamics, Unmanned aerial vehicles
DOI: 10.1109/ROBOT.2001.932845
ISBN: 0780365763
ISSN: 1050-4729
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2001 IEEE
Deposited On: 14 Apr 2015 02:19
Last Modified: 14 Apr 2015 02:19

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