Sensing and control for a small-size helicopter

被引：0
|
作者：
Buskey, G [1 ]
Roberts, J [1 ]
Corke, P [1 ]
Ridley, P [1 ]
Wyeth, G [1 ]
机构：
[1] CSIRO, Mfg & Infrastruct Technol, Kenmore, Qld 4069, Australia
来源：
EXPERIMENTAL ROBOTICS VIII | 2003年 / 5卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：476 / 486
页数：11
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