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ICRA
2002
IEEE

Flying Robots: Modeling, Control and Decision Making

9 years 6 months ago
Flying Robots: Modeling, Control and Decision Making
This paper presents a flight rnanageiiient system (FhIS) iinpleniented as on-board intelligence for rotorcraft-based unmanned aerial vehicles (RUAVs), in order to gradually ilen abstract mission coniinands into real-time control signals for each vehicle. A strategy planner uses the probabilistic decision making algorithms to determine suboptinial action at each time step. A graphical interface on ground station enables human intervention. We derive nonlinear dynamics model upon which we design a tracking control layer using nonlinear model predictive control and integrate with a trajectory generator for logistical action planning. The proposed structure has been implemented on Berkeley RUAVs and validated in probabilistic pursuit-evasion games to show the possibility of intelligent flying robots.
H. Jin Kim, David Hyunchul Shim, Shankar Sastry
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors H. Jin Kim, David Hyunchul Shim, Shankar Sastry
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