Flying robots: modeling, control and decision making
- 1 January 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 66-71 vol.1
- https://doi.org/10.1109/robot.2002.1013340
Abstract
This paper presents a flight management system (FMS) implemented as on-board intelligence for rotorcraft-based unmanned aerial vehicles (RUAV's), in order to gradually refine given abstract mission commands into real-time control signals for each vehicle. A strategy planner uses the probabilistic decision making algorithms to determine suboptimal 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.Keywords
This publication has 3 references indexed in Scilit:
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- Hierarchical control system synthesis for rotorcraft-based unmanned aerial vehiclesPublished by American Institute of Aeronautics and Astronautics (AIAA) ,2000