A flight control system for aerial robots: algorithms and experiments

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This paper presents a hierarchical flight control system for unmanned aerial vehicles. The proposed system executes high-level mission objectives by progressively substantiating them into machine-level commands. The acquired information from various sensors is propagated back to the higher layers for reactive decision making. Each vehicle is connected via standardized wireless communication protocol for scalable multi-agent coordination. The proposed system has been successfully implemented on a number of small helicopters and validated in various applications. Results from waypoint navigation, a probabilistic pursuit-evasion game and vision-based target tracking demonstrate the potential of the proposed approach toward intelligent flying robots. (C) 2003 Elsevier Science Ltd. All rights reserved.
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
Issue Date
2003-12
Language
English
Article Type
Article
Citation

CONTROL ENGINEERING PRACTICE, v.11, no.12, pp.1389 - 1400

ISSN
0967-0661
DOI
10.1016/S0967-0661(03)00100-X
URI
http://hdl.handle.net/10203/82708
Appears in Collection
EE-Journal Papers(저널논문)
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