ICRA 2012 Paper Abstract

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Paper TuA01.3

Langelaan, Jack W. (Penn State University), Spletzer, John (Lehigh University), Montella, Corey (Lehigh University), Grenestedt, Joachim (Lehigh University)

Wind Field Estimation for Autonomous Dynamic Soaring

Scheduled for presentation during the Regular Session "Estimation and Control for UAVs" (TuA01), Tuesday, May 15, 2012, 09:00−09:15, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Aerial Robotics

Abstract

A method for distributed parameter estimation of a previously unknown wind field is described. The application is dynamic soaring for small unmanned air vehicles, which severely constrains available computing while simultaneously requiring updates that are fast compared with a typical dynamic soaring cycle. A polynomial parameterization of the wind field is used, allowing implementation of a linear Kalman filter for parameter estimation. Results of Monte Carlo simulations show the effectiveness of the approach. In addition, in-flight measurements of wind speeds are compared with data obtained from video tracking of balloon launches to assess the accuracy of wind field estimates obtained using commercial autopilot modules.

 

 

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