Various embodiments involve controlling rotational maneuvers of a robotic vehicle (e.g., an unmanned aerial vehicle or UAV) so that commanded changes in vehicle attitude (e.g., pitch, roll, and/or yaw) may be performed as rotations about a center of sensing of a sensor instead of the vehicle's center of gravity. Maneuvers performed according to various embodiments may reduce or eliminate translational movements in the sensor output that occur when the robotic vehicle rotates about the center of gravity and the sensor is mounted some distance from the center of gravity.
Sensor-centric path planning and control for robotic vehicles
2019-08-20
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64G Raumfahrt , COSMONAUTICS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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