ICRA 2011 Paper Abstract


Paper ThA101.4

Suzuki, Satoshi (Shinshu University)

Low Accuracy Sensor-based Navigation and Fully Autonomous Guidance Control of Small Electric Helicopter

Scheduled for presentation during the Regular Sessions "Aerial Robotics V" (ThA101), Thursday, May 12, 2011, 09:05−09:20, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Aerial Robotics, Sensor Fusion, Autonomous Navigation


In this paper, we design the navigation and fully autonomous control system for small electric helicopter. Small and low-accuracy sensors (GPS which cannot output vertical velocity, low-accuracy accelerometers, and barometer) are used for navigation and control. Firstly, INS/GPS/Barometer navigation system is designed to obtain high-accuracy position and velocity of the helicopter. Secondly, 3-dimensional guidance control system is designed by using optimal control theory and quaternion kinematics. Lastly, whole systems designed in this research are validated by the flight experiments.



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