Article

Embedded autopilot for accurate waypoint navigation and trajectory tracking: application to miniature rotorcraft UAVs

Authors:

Farid Kendoul,

Yu Zhenyu,

Kenzo NonamiAuthors Info & Claims

ICRA'09: Proceedings of the 2009 IEEE international conference on Robotics and Automation

Pages 2332 - 2338

Published: 12 May 2009 Publication History

Abstract

In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of waypoint navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft, a lightweight/portable and inexpensive Guidance, Navigation, and Control system (GN&C) was developed. To compensate for the weaknesses of the low-cost equipment, we put our efforts in obtaining a reliable model-based nonlinear controller. The GN&C system was implemented on a small four rotor helicopter which has undergone an extensive program of flight tests, resulting in various flight behaviors under autonomous control from takeoff to landing. Flight test results that demonstrate the operation of the GN&C algorithms on a real MAV are presented.

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Cited By

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Ruscio DMalavolta IPelliccione PTivoli MBaudry BCombemale BKienzle JPretschner A(2016)Automatic generation of detailed flight plans from high-level mission descriptionsProceedings of the ACM/IEEE 19th International Conference on Model Driven Engineering Languages and Systems10.1145/2976767.2976794(45-55)Online publication date: 2-Oct-2016
https://dl.acm.org/doi/10.1145/2976767.2976794
Bozhinoski DDi Ruscio DMalavolta IPelliccione PTivoli MCohen MGrunske LWhalen M(2015)FLYAQProceedings of the 30th IEEE/ACM International Conference on Automated Software Engineering10.1109/ASE.2015.104(801-806)Online publication date: 9-Nov-2015
https://dl.acm.org/doi/10.1109/ASE.2015.104
Kendoul FNonami K(2009)A visual navigation system for autonomous flight of micro air vehiclesProceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems10.5555/1732643.1732687(3888-3893)Online publication date: 10-Oct-2009
https://dl.acm.org/doi/10.5555/1732643.1732687

Embedded autopilot for accurate waypoint navigation and trajectory tracking: application to miniature rotorcraft UAVs

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ICRA'09: Proceedings of the 2009 IEEE international conference on Robotics and Automation

May 2009

4472 pages

ISBN:9781424427888

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IEEE Press

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Published: 12 May 2009

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Ruscio DMalavolta IPelliccione PTivoli MBaudry BCombemale BKienzle JPretschner A(2016)Automatic generation of detailed flight plans from high-level mission descriptionsProceedings of the ACM/IEEE 19th International Conference on Model Driven Engineering Languages and Systems10.1145/2976767.2976794(45-55)Online publication date: 2-Oct-2016
https://dl.acm.org/doi/10.1145/2976767.2976794
Bozhinoski DDi Ruscio DMalavolta IPelliccione PTivoli MCohen MGrunske LWhalen M(2015)FLYAQProceedings of the 30th IEEE/ACM International Conference on Automated Software Engineering10.1109/ASE.2015.104(801-806)Online publication date: 9-Nov-2015
https://dl.acm.org/doi/10.1109/ASE.2015.104
Kendoul FNonami K(2009)A visual navigation system for autonomous flight of micro air vehiclesProceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems10.5555/1732643.1732687(3888-3893)Online publication date: 10-Oct-2009
https://dl.acm.org/doi/10.5555/1732643.1732687

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Trajectory tracking control for a miniature fixed-wing unmanned air vehicle

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