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ICRA
2007
IEEE

Landing a Helicopter on a Moving Target

10 years 6 months ago
Landing a Helicopter on a Moving Target
— We present the design of an optimal trajectory controller for landing a helicopter on a moving target. The trajectory planner is based on the Variational Hamiltonian and Euler-Lagrange equations. We use a kinematic model of the helicopter to derive an optimal controller that is able to track an arbitrarily moving target and then land on it. Simulations are shown to verify the performance of the optimal trajectory controller. Data from real flight trials is presented to validate the inputs obtained from the trajectory planner to track a desired trajectory. We present initial trials in simulation for landing the helicopter autonomously on a moving target.
Srikanth Saripalli, Gaurav S. Sukhatme
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Srikanth Saripalli, Gaurav S. Sukhatme
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