Planar Spline Trajectory Following for an Autonomous Helicopter | Zendy

Kale Harbick | Zendy; James F. Montgomery | Zendy; Gaurav S. Sukhatme | Zendy

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Planar Spline Trajectory Following for an Autonomous Helicopter

Author(s) -

Kale Harbick,

James F. Montgomery,

Gaurav S. Sukhatme

Publication year - 2004

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2004.p0237

Subject(s) - trajectory , computer science , robot , spline (mechanical) , control theory (sociology) , planar , tracking error , tracking (education) , global positioning system , mobile robot , artificial intelligence , computer vision , control (management) , engineering , psychology , telecommunications , pedagogy , physics , computer graphics (images) , structural engineering , astronomy

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable.

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